Protesters Friday chanted, "We came to call for reforms and an amendment to the constitution so the people can see the light!"
The Muslim Brotherhood organized the protest.
The religious and political group -- which was started in 1928 and counts Egypt's new president, Mohamed Morsy, as a member -- believes Islam is not simply a religion but a way of life. It advocates a move away from secularism and a return to the rules of the Quran as a basis for healthy families, communities and states. The Brotherhood has repeatedly called for political reform in Jordan.
"No way are we going to accept anymore that one person rules over 6 million people and nobody can ask him about what he does," said Nimer al-Assaf, deputy secretary general of the Islamic Action Front, the political arm of the Muslim Brotherhood.
It's unclear how much power the Brotherhood has in Jordan. The group has publicly vowed, Abrams said, not to contest the parliamentary elections in the new year.
The Muslim Brotherhood in Jordan has been a part of politics for decades, the foreign minister said. He said the majority of those at Friday's protest were members.
"This is not new for Jordan," Judeh said, adding that "certain agendas" rather than political reform are the Brotherhood's objectives.