Rep. Greg Harper, R-Mississippi, said that he was out of order and that rules prohibit wearing hats in the chamber when the House is in session.
"This is not a hat," Rush said afterward. "This is a hoodie. ... I don't mind being out of order if it means standing up for truth and justice."
Rush later appeared on CNN, still wearing his hoodie and sunglasses.
"I wanted to just express that a hoodie is nothing but a piece of clothing," he said. "... It has nothing to do with character, but yet still, Trayvon Martin lies dead, partially because he was a black man wearing a hoodie in a white neighborhood."
Rush said the Martin case hits home for him, as his own son was shot to death in 1999.
Tracy Martin declared that "everyone's trying to turn the focus on George Zimmerman and make George Zimmerman the victim.
"We have a dead 17-year-old son," he said.
Fulton said, "I just hope things change in general as far as racial relations and that we all take something away from my son's death."
CNN's Umaro Djau, Deirdre Walsh, Ed Payne and Tracy Sabo contributed to this report.