John Connolly, the firm's chairman, banned the Guardian from tweeting or live reporting from the meeting.
G4S security guards prevented shareholders from taking photographs or videos of the violent removal of protesters.
A shareholder interrupted proceedings to question the board about the violent removal of protesters. He said: "This cannot be acceptable. You can not have people being dragged out."
Another shareholder said: "We feel very uncomfortable about our company doing this."
A total of 29 security guards and other personnel were positioned around the room.
G4S has denied any involvement in torture or human rights abuses. Connolly said the company had already decided not to renew its contracts to maintain prisons inn Israel and the West Bank.
An independent human rights report commissioned by G4S following similar protests at last year's AGM found the company "had no causal or contributory role in human rights violations".
"There are clearly human rights failings in some parts of Israel's security system, but G4S's role is far removed from their immediate causes and impact," the report by Hugo Slim, a research fellow at the Institute of Ethics, Law and Armed Conflict at the University of Oxford, said