An investigation has been launched into a security breach at Parliament House that saw pro-Palestinian protesters scaling the building and unfurling banners, as the prime minister condemned the actions.

Four people were arrested after climbing up Parliament House on Thursday and putting up banners that accused Australia of complicity in “war crimes” and “genocide”.

House of Representatives Speaker Milton Dick told parliament an investigation would be carried out into the breach, after talks with the federal police commissioner.

“I’ve asked the commissioner for a wider review of security arrangements. I do not want a repeat of today’s events,” he said.

“We are deeply concerned about this morning’s event.”

Members of the public were barred from sitting in the House of Representatives during Question Time as a security measure, following the protests.

Prime Minister Anthony Albanese slammed the actions of the protesters, while also welcoming the security review.

“Those responsible should feel the full force of the law. Peaceful protest has an important place in our society, but this was not a peaceful protest,” he said.

“People should be able to come and watch their parliament function in real-time but activities such as that, which was engaged with this morning, undermines that and undermines our democracy.”

The prime minister said he did not want to see unnecessary restrictions put in place on parliament following the protests.

Opposition Leader Peter Dutton also joined the condemnation of the protests.

“Serious questions need to be asked about how these people were permitted entry into the building,” he said.

“We need to understand the gravity of the situation because these images will be beamed around the world.”

By Andrew Brown in Canberra