The US Senate has failed to advance a bill to fund the Department of Homeland Security (DHS) amid dispute over Democratic demands to place new restrictions on immigration agents.

A procedural vote on Thursday fell short of the number required, leaving it stalled ahead of a midnight Saturday deadline.

Following the killings of two US citizens, Democrats have called for tighter oversight of Immigration and Customs Enforcement (ICE), including banning its agents from wearing masks and requiring them to use body cameras.

The lapse in funding is expected to have little impact on ICE operations. But it could hit other DHS agencies, including those in charge of disaster response and airport security.

ICE and other immigration enforcement agencies will largely continue to be funded because of legislation last year that gave billions to dollars to advance President Donald Trump's mass deportation agenda.