The Walsall North MP added that the overwhelming majority of Muslims in Britain "have the same distaste as the rest of us about these thugs".
"I hope it will be the last time we ever see such a demonstration, totally unacceptable to the Muslim community," he said.
Other Muslims maintained that the protesters were extremists not representative of mainstream British Muslims:
Asghar Bukhari, chairman of the Muslim Public Affairs Committee, said the demonstration in London should have been stopped by police because the group had been advocating violence.
He said the protesters "did not represent British Muslims".
Mr Bukhari told the BBC News website: "The placards and chants were disgraceful and disgusting, Muslims do not feel that way.
"I condemn them without reservation, these people are less representative of Muslims than the BNP are of the British people."
He said that Muslims were angry over satirical cartoons of the Prophet Muhammad published in European papers but it was "outrageous" for anyone to advocate extreme action or violence.
"We believe it [the protest] should have been banned and the march stopped.