The comments, made in interviews recorded for a report for the Administration Committee in April 2014, revealed that Commons staff were unhappy with the security measures in place at the time.
The report read: “Members also voiced concerns about the appearance of the security barriers surrounding the Palace.
“Some considered these to be extremely ugly and out of keeping with a major heritage site.
“It was noted that the stone barriers outside the Treasury and Foreign and Commonwealth Office were aesthetically pleasing and a similar style would be preferable outside the Palace of Westminster.”
It added: “Some Members and staff also noted that the presence of armed guards outside the main visitor entrances did not create a welcoming atmosphere.
MPs said armed police outside Westminster created a "bad atmosphere"
“The security barriers outside the Palace were regarded as ugly and the presence of armed police was off-putting.”
The comments reveal the resistance of some MPs to modernising security measures designed to counter terror attacks like that which left four dead in Westminster earlier this week when Khalid Masood rammed his car along the path on Westminster Bridge.
Carriage Gates, the entrance looking out to Parliament Square, does not currently have a 24-hour security detail.
MPs have suggested bolstering security services outside Parliament after Wednesday's attack
Following the attack, MPs are now keen on bolstering the police presence at Westminster in the wake of Wednesday’s attack.
Liberal Democrat MP Tom Brake, a member of the ruling Commons Commission, suggested armed officers should always be present at the gates.
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He said: “These officers are the most vulnerable – and the arrangements have got to be scrutinised to see if in future we need to have different arrangements surrounding them.
The attack left four people dead and around 40 people injured
“There is work underway, with work expected to be completed by the end of the year.”
Plans are also reportedly “on the table” to pedestrianise Parliament Square, after Masood managed to break into the estate after the Carriage Gates were left open for cars to come and go.
London Terror Attack: Politicians react Thu, March 23, 2017
Politicians from around the world have responded to the London terror attack which led to the death of 4 people and more than 40 injured
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At least four people have been killed including a policeman
Mark Rowley, Scotland Yard’s anti-terror chief, confirmed today that Parliament’s security arrangements would be reviewed.
He said: “Our current arrangements have been developed with Parliament over many years and are designed to provide access to the seat of our Government balanced with security that is proportionate but not overly intrusive.”