The congressman's office provided footage which is from a security camera.
The video shows a staffer with her face blurred trying to block the officers from entering another room.
One of them quickly moves her out of the way, turns her around and handcuffs her.
Rep. Nadler wants congress to investigate the incident.
Homeland Security says it went to the office to check on the safety of the workers.
The disagreement over what transpired in Rep. Nadler's office last week is raising the stakes on DHS and ICE tactics - and fueling the pushback across New York City and beyond.
There was a disagreement around what exactly occurred.
A statement from the Department of Homeland Security reads, in part:
"Officers were concerned about the safety of federal employees in the office...one individual became verbally confrontational and physically blocked access to the office. The officers then detained the individual in the hallway for the purpose of completing the security check. All were released without further incident."
But on Monday, Nadler says DHS' "lying" story prompted him to speak out.
"DHS was upset that some of my staff members were watching them grab immigrants emerging from an immigration court in the same building," Nadler said.
He said after staffers invited observers to his office, DHS followed.
"In barging in, one of the officers, a very big heavy set fellow, pushed my aide, a very petite young woman, and they then said that she pushed back and they shackled her and took her downstairs and she was obviously traumatized," Nadler said.
Nadler said he is demanding a congressional investigation.
"The tactics were totally unacceptable and they needed a warrant and my office is a congressional office," he said. "It's a completely separate branch of government. A co-equal branch of government, and they had no right to come in."
ICE tactics are leading to growing pushback across the area. Lawmakers joined community members at a protest in Foley Square on Monday.
"No one is safe, we had a federal staffer arrested, wake up, wake up, now is the time to move," said NY State Assemblymember Marcela Mitaynes.
State legislators are promoting two bills to limit cooperation with ICE: the New York For All and Dignity Not Detention acts. Both bills face votes this week.
"It's abhorrent that federal immigration law enforcement would enter a member of Congress' office and handcuff one of his staff," said NY State Sen. Julia Salazar. "We have the power under state law to protect immigrant New Yorkers, undocumented neighbors and others who have been targeted by immigration enforcement."
There are merely days left to schedule a vote on the two bills as the legislative session at the state level ends next week.
But state lawmakers say they see the rising frustration with federal immigration actions - especially the arrests happening in schools and courts where people are appearing for legally scheduled hearings, and say they are optimistic about both bills' changes.
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