Officers were called to the Stonedale area of Sutton Hill at around 6.30pm on Monday, with photographs on social media showing at least six police cars in the road.
A spokesperson for West Mercia Police said that a woman in her 30s was arrested for assault on an emergency worker and a 17-year-old girl was arrested for public order offence.
"Both have subsequently been released under investigation. A 17-year-old boy was also arrested for actual bodily harm however no further action is being taken," he said.
The police officer was allegedly pushed in the incident.