ABC News obtained exclusive video of the take down and learned new details straight from the ballroom.
Lochte's debut was interrupted as the judges were about to begin their critique.
The show, staying in split screen and the commotion off screen, forced host Tom Bergeron to break to commercial.
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That much you saw on TV. But now there's video of what you didn't see.
The video shows two protesters, wearing anti-Lochte shirts, storming the stage and security quickly jumping into action, tackling one of the protesters.
Then more audience members in the gallery, also sporting anti-Lochte shirts, were asked to leave by dancing pro Derek Hough. "Get out of here, come on. Get out. It's a good show. A positive show," he said.
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The protests playing out in the ballroom are following Lochte's scandal in Brazil, where he lied about being robbed at a Rio gas station with his Olympic teammates.
The security scare Monday night frightened the stars. "I'm in shock. I mean, I've never experienced this on the 19 seasons I've done on 'Dancing with the Stars,'" Cheryl Burke said.
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"It was definitely quite scary. We didn't know what was going to happen," Julianne Hough said.
Lochte was also shaken, but his focus remained on redemption. "That broke my heart. I've changed and I want to become a better person," he said.
The two male protesters were arrested and booked for trespassing. They told ABC News that they did what they did because they say Lochte is a liar and, in their view, his actions in Rio endangered Americans.
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