Victims and community representatives affected by the British Army Training Unit Kenya (BATUK) marched to Parliament in Nairobi on Wednesday, demanding accountability over alleged abuses.
Protesters marched with placards before submitting a petition, as security officers monitored the demonstration.
Esther Njoki, niece of Agnes Wanjiru, urged Kenya and Britain to address victims' demands before moving forward with their defence agreement.
"So we are here today to call for greater accountability for the victims of the British atrocities. Because we have seen what has been going around, and so we want both governments to come out clearly to say if the agreement has been signed or not."
Nasib Jirob, mother of nine-year-old Jibril Jonathan Fletcher, said children fathered by British servicemen faced discrimination and lacked basic support.
"40 or more kids. When they go to school, the discrimination is there. The basic things they don't have. When they are sick, no one wants to take care of them because they are safe. They are from British colonisers. So all we are asking, all we are pleading, is for our voices to be heard."
BATUK, which trains British troops in Kenya, has faced years of scrutiny over allegations of killings, sexual abuse and other misconduct involving British soldiers.
Britain says it takes allegations against its personnel seriously and cooperates with Kenyan authorities on investigations.
The 2012 killing of Agnes Wanjiru remains at the centre of the controversy. A former British soldier charged with her murder in Kenya is fighting extradition from the UK.