The Mexican government says it will file criminal complaints in the United States over the deaths of more than a dozen of its citizens in US custody.

Mexican Foreign Minister Roberto Velasco told journalists that the government would take "forceful legal action" to protect the human rights of Mexican citizens in the US.

He said that 14 Mexicans had died while in the custody of Immigration and Customs Enforcement (ICE) and another three during ICE "arrest operations".

The incidents have not just caused outrage in Mexico. On Wednesday, more than a thousand people protested in Houston, where an ICE officer had shot dead Mexican national Lorenzo Salgado Araujo the day before.

Salgado, 52, had been working as a builder for three decades in the Houston area after coming to the US as an undocumented migrant, his son said.

Ronaldo Salgado told journalists that his father "did not deserve to be reduced to a headline of 'Mexican man shot and killed by ICE'".