The fight broke out after the legislators allied to NASA carried the day during a crucial vote.
Chaos ensued inside the county assembly chambers after the NASA MCAs carried the day and passed the NASA People's Assembly motion.
In a video widely circulated on social media, the MCAs are seen engaged in fist-fight as the county assembly's officials appear to struggle to maintain order.
The chamber's chairs are also seen being thrown by the MCAs in the chaotic melee.
Already, the NASA's People's Assembly Motion has been passed in over 20 counties.
While announcing the formation of the People’s Assemblies in November, NASA leader Raila Odinga said the formation will be a broad based forum consisting of elected leaders and the leadership of other sectors of society in particular workers, civil society, religious leaders, women, youth and economic interest groups.
The assemblies, NASA said, have a taskforce that will be charged with coming up with suggestions of how to change the Constitution including the structure of government and the elections regime.
According to NASA, the Peoples Assembly will be formed to discuss and determine the affairs of the country and recommend a pathway towards and for the achievement of the promise, aspirations, objectives and rights and freedoms provided by the Constitution of Kenya 2010.