The Miami event took place just days before the next round of primaries, including Florida.
With 246 delegates at stake, the southern state is the biggest prize.
Bernie Sanders had a surprise victory in Michigan on March 8, but Hillary Clinton increased her overall lead with a big win in Mississippi.
In the Republican race on the same day, Donald Trump won three more states (Michigan, Mississippi and Hawaii) in his bid to win the Republican nomination. Rival Ted Cruz won a Republican-only race in Idaho.
The states were the latest to choose candidates to compete in November’s presidential election.
During the Miami debate, former Secretary of State Hillary Clinton criticized Vermont Senator Bernie Sanders for voting against an immigration reform back in 2007.
“Just think, imagine where we would be today if we had achieved comprehensive immigration reform nine years ago,” she said.
Bernie Sanders responded by saying he had concerns about the treatment of guest workers. The proposed program was “akin to slavery”, he said.
The Vermont senator also said that Hilalry Clinton was against allowing illegal immigrants to obtain driver’s licenses.
Nearly two million Hispanics live in Florida, and their support will play a big role in the 15 March primary.
Florida is home to nearly 1.8 million Hispanics, including about 15% of the state’s Democrats.
Hillary Clinton and Bernie Sanders also discussed job creation, education and climate change.
They both attacked Republican front-runner Donald Trump, with Hillary Clinton saying that his “trafficking in prejudice and paranoia has no place in our political system”.
Hillary Clinton said Donald Trump could not even decide “whether to disavow Ku Klux Klan”.
Meanwhile, Bernie Sanders said: “I think that the American people are never going to elect a president who insults Mexicans, who insults Muslims, who insults women, who insults African-Americans.”
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