His searing monologue also targeted Melania Trump.
Late Show hosts said Nielsen "puts kids in cages."
Kirstjen Nielsen's replacement, U.S. Customs and Border Protection Commissioner Kevin McAleenan, who will serve as acting secretary, also defended Border Patrol's use of tear gas to repel migrants.
The vice president warned that the number of people seeking to cross the U.S.-Mexico border will increase in the spring.
"Thank God that wall wasn't there, and thank God there wasn't an administration like this or [Jesus] would too have perished," said Representative Luis Gutiérrez.
"Mueller did it -- and I know he's a hero to some people around here -- to Manafort. It happens," Gohmert said while speaking about family separations.
Department of Homeland Security Kirstjen Nielsen said that Russian interference did not play a role in President Donald Trump's 2016 election win, despite the intelligence community's findings.
Fox News reported that Homeland Security Secretary Kirstjen Nielsen's misleading tweets were merely "clarifying" the issue.
"I actually do not know that, sir," Secretary of Homeland Security Kirstjen Nielsen said when asked if Norwegians are predominately white.
Drake and Kendrick Lamar were among the most popular artists of 2017, according to a new report from Nielsen.
A brief history of the president's beef with Joe Scarborough and Mika Brzezinski's show.
In the U.S. market, kick-off time is everything.