At 9.30am, a whistle was blown to instruct activists to block the roads leading into the junction, one of London’s busiest, which was the scene of days of lively protests by the group in April.

In minutes, activists had erected the structure in the middle of the road, with three climbing on top and more locking themselves on around its base.

The latest action comes after 12 days of protests by XR, beginning a week last Monday, which have so far led to more than 1,700 arrests.

Greg Frey, 23, from London, who was locked to the base of the structure with a bicycle lock around his neck, said: “We would love to go home. I would love to have not spent the last 13 days on the streets, but we have no choice. We’re trapped.”

Charlie Lewin, 54, was handing out leaflets to passersby saying: “We’re sorry.”

She said: “I’m crying because this is really important. People are really angry and want us to go away and I want to go home, but I think this is so important I have to be here. I haven’t seen my family for a fortnight. I miss my family, I want to be at home where I’m safe. I don’t want to be arrested again but I’m terrified for my future and my family’s future.”

Extinction Rebellion has a wave of protests planned for Friday. Shortly after the blockade at Oxford Circus, five activists locked themselves together outside the door of the Kenyan High Commission on Portland Place to highlight the plight of the Sengwer people, who are being displaced from their forest homes in the name of conservation.

“Any climate change solution should respect and take into consideration the rights of indigenous peoples around the world,” said Laurence Tidy, 26, from Wales, who was locked around his neck to another activist blocking the door of the high commission.

At noon, supporters gathered at Whitehall Gardens for a “red-handed” march through Westminster, in a nod to the section 14 order that remains in place banning their environmental protests across London. Police attempted to intercept activists as they circulated the crowd using red spray chalk to paint handprints on the floor.

Among those taking part in the march was Rob Cooper, a former chief superintendent turned XR activist. Asked how he felt about the two weeks of protests, he said: “There have been a couple of issues but overall it’s been absolutely amazing and all credit to XR rebels that have stuck with it for days and days.

“The reason we are here is because we are asking the government: what’s your plan? Parliament declared a climate emergency in May and since then the silence has been deafening. Rather than silence, we would rather the government listened to the science.”

Five Extinction Rebellion protesters were due to appear in court on Friday in connection with disruption to the transport network during the Thursday morning rush hour.

British Transport Police (BTP) said Mark Ovland, 36, from Keinton Mandeville in Somerset, was charged with breaching his bail conditions when he allegedly disrupted a Jubilee line train at Canning Town station in east London at about 6.45am.

Ovland is due to appear before magistrates at Highbury Corner later. He was arrested alongside another man, a 35-year-old from Filton in South Gloucestershire, who was arrested on suspicion of obstructing the railway. The unnamed man has been released on bail.

Four other people will appear at the same court charged in connection with an incident at Shadwell station, east London, on the Docklands Light Railway.

The BTP said they were Margreit Bos, 32, of Chartham in Kent; Martin Newell, 52, of Sparkhill in Birmingham; Philip Kingston, 83, of Patchway in Bristol; and Sue Parfitt, 77, of Henbury in Bristol.

Two other men, aged 32 and from Lewisham and Kingston upon Hull, were arrested at Stratford station on suspicion of obstructing the railway, BTP said. They have been released on bail.