They have announced that they are organising a march on 19 February in Amman.
Dr Sayyid Dhiyab, the Secretary General of the leftist Jordanian Democratic People Unity Party (JDPU) said the Jordanian authorities approved the opposition's demand to organise the march which would start from al-Quds College, heading towards the headquarters of the Jordanian parliament in central Amman.
"The rally will coincide with the first session of the International Court of Justice (ICJ) which is expected to decide on the separation wall next month," he added.
The march is set to raise slogans defending Jordan's position in the face of Sharon's threats, supporting the Palestinian Intifada and condemning the West Bank wall.
Sharon has threatened to halt economic cooperation with Jordan if the Kingdom continues its condemnation of the wall and if it resumes its plans to take a pioneering role in the ICJ wall trial in the Hague in February.
The Israeli threat to the monarchy has angered many Jordanians, including a number of parliamentarians who have called for an official condemnation of the Israeli threats.
Foreign minister Marwan Muashir also condemned Sharon's warning during Wednesday's parliamentary session as he highlighted the Kingdom's efforts to present legal argument against the barrier.