The group, which comprised five women and four men, was expected to appear before a Port of Spain Magistrate on Thursday morning to answer the charge of obstruction of a public passageway.
They were arrested at around 5:30pm.
They had been living under a tarpaulin outside the UN office on Chancery Lane, hoping to be granted asylum in the US.
The group had been offered accommodation by the Living Water Community but refused to be relocated.
Their children, who had been sleeping on the streets with them, have been handed over to the Child Protection Unit of the Police Service.