A coffin marked 'RIP British Empire' was thrown into Dublin's River Liffey during the Queen's funeral on Monday.
The act was carried out by Anti Imperialist Action Ireland during a protest march through the city.
The move was said to have been a recreation of an action by former socialist leader James Connolly in Dublin in 1897 during a visit to the city by Queen Victoria - the late monarch's great-great-grandmother.
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The group wrote on Twitter : "This afternoon, Anti Imperialist Action organised a protest march starting at the James Connolly Statue at Beresford Place and marching around to the GPO, against the grovelling worship of the English Monarchy by the Free State ruling class.
"Along the march, a coffin marked "RIP British Empire" was thrown into the Liffey at O'Connell Street, just as James Connolly did in 1897 to protest the visit of Victoria."
The group chanted slogans such as "You Say British King, We Say Guillotine" and "Get the Brits Out Now!" as they walked along the capital's streets.
In further tweet, the group wrote: "The bowing and scraping from the likes of Michael D Higgins and Micheal Martin only highlights the continuing counter-revolutionary and semi-colonial nature of the Free State.
"Socialist Republicans will continue to oppose the normalisation of relations with Britain."
Protesters also objected to the flying of the Irish flag at half-mast on the day of the Queen's funeral.
The group claimed they were thwarted from occupying the General Post Office building in the capital, which they targeted as it was flying flags at half-mast.
It added: "The Tricolour above the GPO flies at half mast for the funeral of a foreign tyrant whose family brought nothing but misery to Ireland.
"The Irish people have no interest in licking the boots of the English Royal parasites."
The news comes after last week former XFactor contestants Jedward caused a stir after they took to social media calling for the monarchy to be abolished days after the Queen died.
The 30-year-olds wrote: "Abolish the monarchy and give the people real democracy!"
The twins then shared a second tweet which said: "King Charles should hand back the six Irish counties on his visit to Northern Ireland – No war! Just words! It's time."
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