Court services were reduced and museums and driving centres closed as members of the Public and Commercial Services (PCS) union protested over what it has calculated as a 20 per cent cut in earnings through a pay freeze and cap in recent years.
Civil servants, council staff and cleaners stood on picket lines across the country, and rallies were held Glasgow and Edinburgh.
The PCS in Scotland said the 24-hour strike had enjoyed large support as people called on ministers to "break with the imposed UK austerity pay cap" in the run-up to the independence referendum.
The union said there was only one courtroom in operation at Edinburgh Sheriff Court - the best strike turnout since 2011 - while Portree and Dingwall courts were closed completely.
PCS spokeswoman Joy Dunn said: "There has been disruption at the Scottish Government and a picket at the Scottish Parliament. More than 120 people joined the rally in Edinburgh.
"It's been very, very positive from our point of view. We've had a fantastic response from our members in Scotland."
The action follows a national PCS ballot which gained 73.7 per cent support from its members. The union represents around 28,000 workers in Scotland.