The chaos came during a debate on changing the electoral laws to allow manual vote-counting for next year’s presidential election, it said.
The government wants a back-up to the electronic system but the opposition says it is a way of rigging the poll.
The initial debate on Tuesday also saw rival lawmakers exchange punches.
Kenyan politics is known to be highly partisan and this is not the first time lawmakers have fought in parliament.
In 2014, four lawmakers were assaulted and one had his shirt torn.