Officers have ordered protesters off Ferguson streets after what had been several hours of largely peaceful demonstrations.

Protesters had gathered outside the Ferguson Police Department on Tuesday for a second night following a grand jury decision not to indict Officer Darren Wilson in the shooting death of Michael Brown.

Despite several arrests, there was a far different feel than the previous night, which saw arson, looting and rioting.

Several hours after nightfall, a group of people broke off from the crowd and marched down from the police department. A police car was torched outside city hall. Police quickly used a fire extinguisher to douse the flames released tear gas.

Officers soon took to loudspeakers to tell protesters to leave the streets or face arrest.