Hundreds of campaigners waving banners with slogans such as “I believe survivors” and “unfit to serve” staged a protest inside the atrium of the Hart Senate Office Building.
Footage from the scene shows police removing demonstrators one by one.
Mr Kavanaugh looks likely to confirmed to America’s top court after positive comments from two wavering lawmakers about an FBI report on accusations of sexual misconduct by the judge.
He has denied all allegations against him.
Republicans have today moved forward with plans for a key procedural vote tomorrow (Friday) before a final vote on Saturday.
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If appointed, Mr Kavanaugh would tip the Supreme Court in favour of conservatives.
The court has the final say on some of the most contentious issues in the US, including abortion and gun control.
Some of the banners waved by protestors in the Hart Senate Office Building featured pro-choice slogans while others showed support for Christine Blasey Ford, who last week told the Senate Judiciary Committee that Judge Kavanaugh had sexually assaulted her 36 years ago when she was 15.
In a powerful testimony, she said Mr Kavanaugh, then 17, locked her in a bedroom at a party before trying to remove her clothing and putting his hand over her mouth when she tried to scream.
The judge vehemently denied the allegation and insisted he would not be “intimidated” into withdrawing from the confirmation process.
Following the explosive hearing, moderate Republican Senator Jeff Flake broke ranks and called for a further, but “limited”, FBI investigation.
The finished FBI report was delivered to lawmakers in the middle of the night and Republicans say it did not support the allegations against Judge Kavanaugh.
But Democrats have condemned the brief investigation as a whitewash that was too narrow in scope and did not involve interviews with critical witnesses.
President Donald Trump, himself accused by numerous women during the 2016 presidential race of sexual misconduct, wrote on Twitter that the FBI report showed that the allegations against Kavanaugh were “totally uncorroborated.”
In a separate tweet, he wrote: “This is a very important time in our country. Due Process, Fairness and Common Sense are now on trial!”
Judge Kavanaugh can only be confirmed to the Supreme Court after a vote in the Senate, which Republicans control with a slim majority of just two.
Two crucial Republican Senators – Jeff Flake and Susan Collins – had indicated they were undecided on which way they would vote.
However they signalled today that the FBI report may have allayed concerns they had about the judge.