The Trump administration has said it will send hundreds more federal officers to Minneapolis, days after the death of a woman who was shot by a US Immigration and Customs Enforcement (ICE) agent in the city.

Homeland Security Secretary Kristi Noem told Fox News that hundreds more will be sent to the area in order to allow our ICE and our Border Patrol individuals that are working in Minneapolis to do so safely.

Protests against immigration enforcement have been held in cities across the US after 37-year-old Renee Nicole Good was shot in her car on Wednesday. The Trump administration says the agent acted in self-defense. Local officials insist the woman posed no danger.

Noem said the officers will arrive today and tomorrow and warned action would be taken if people tried to obstruct their work.

If they conduct violent activities against law enforcement, if they impede our operations, that's a crime, and we will hold them accountable to those consequences, she said.

Protesters gathered in Minneapolis on Saturday, with anti-ICE protests also taking place elsewhere in the US, including in Austin, Seattle, New York and Los Angeles.

Minneapolis police estimated tens of thousands of people attended the ICE out of Minnesota rally and march, which started in Powderhorn Park on Saturday.

Minneapolis Mayor Jacob Frey said the protest was peaceful. Police said 31 people had been arrested after protests on Friday and Saturday.

Speaking to CNN, Noem also doubled down on her assessment that Good was committing an act of domestic terrorism, saying she had weaponised her car to attack ICE agents.

In response to her comments, Frey told CNN: Anybody can see that this victim is not a domestic terrorist, calling her actions those of someone trying to escape the scene.

On Sunday, Minnesota senator Tina Smith accused the Trump administration of attempting to cover up the shooting.

Videos of the incident show ICE agents approaching a car, telling the driver to exit. As the vehicle attempts to leave, shots are heard, and the car crashes shortly after. Good's wife stated they were at the scene to support neighbors during an ICE action.

The FBI is investigating the shooting, with Minnesota officials asserting their own inquiry following claims of being excluded from the federal investigation.