Blackfriars Road and St George's Circus were sealed off by police on Saturday afternoon after officers stopped a Belgian-registered BMW and arrested three men.
The centre of the incident was at the southern end of Blackfriars Road, between the Webber Street junction and St George's Circus.
A Metropolitan Police spokeswoman said that officers had stopped a car at 1.44pm.
"The occupants of the vehicle – three men – were arrested on suspicion of theft of a motor vehicle," she added.
"They currently remain in custody at a south London police station."
Customers and staff at Chillies Tandoori at St George's Circus were warned to keep away from the windows by police officers.
The incident led to major disruption to bus services around Waterloo Road, Westminster Bridge Road and London Road.
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