He then removed his dog collar and dramatically cut into pieces, saying, "You see, as an Anglican, this is what I wear to identify myself that I'm a clergyman. Do you know what Mugabe has done? He's taken people's identity and literally if you don't mind, cut it to pieces.
"This is what he's actually done ... and in the end there's nothing. So as far as I'm concerned, from now on I'm not going to wear a dog collar until Mugabe's gone."
Dr Sentamu said the world was holding back from intervening in the crisis out of "pernicious, self-destructing racism".
"A white man does it, the whole world cries. A black person does it, there is a certain sense [of] 'oh this is colonialism'. I'm sorry I don't buy this. Africa and all the world have got to liberate Africa from this mental slavery and this colonial mentality," he said.
He urged people at every level to do their part in ending Mugabe's reign in Zimbabwe, recollecting the action that people took to end apartheid in South Africa by praying, marching, protesting and raising money to support those in need.
"As Christmas comes around spare a pound, spare a pound for child starving in Darfur and in Zimbabwe," he said.
"Let this money be collected so that when a time comes people can actually have their houses and their homes rebuilt. And to me that's the greatest thing we can actually do as a nation."
Dr Sentamu also said that a challenge from African leaders to Mugabe's regime would not be enough to oust the leader, but only a united international voice.
"What needs to happen is a world voice saying enough is enough, this cannot be tolerated."
Africa and Europe's first summit in seven years ended in deadlock over trade issues on Sunday, stalling plans to forge a fresh economic partnership that would ease Europe's fears of being bumped out of its current spot as Africa's largest commercial partner by China.
Dr Sentamu is no stranger to challenging leadership on human rights, having fled from his native Uganda in 1974 as a result of his outspoken criticism against Idi Amin's dictatorship.
The World Food Programme has warned that over four million people are at risk of severe food shortages in Zimbabwe, while Tearfund has launched an emergency appeal to support churches there as they struggle to bring help to the poorest families affected by the crisis even as they themselves face the daily challenge of finding even the most basic items. The appeal has so far raised over £1.2 million.
