A search for long-lived particles decaying into hadrons is presented. The analysis uses 139 fb$^{-1}$ of $pp$ collision data collected at $\sqrt{s} = 13$ TeV by the ATLAS detector at the LHC using events that contain multiple energetic jets and a displaced vertex. The search employs dedicated reconstruction techniques that significantly increase the sensitivity to long-lived particles decaying in the ATLAS inner detector. Background estimates for Standard Model processes and instrumental effects are extracted from data. The observed event yields are compatible with those expected from background processes. The results are used to set limits at 95% confidence level on model-independent cross sections for processes beyond the Standard Model, and on scenarios with pair-production of supersymmetric particles with long-lived electroweakinos that decay via a small $R$-parity-violating coupling. The pair-production of electroweakinos with masses below 1.5 TeV is excluded for mean proper lifetimes in the range from 0.03 ns to 1 ns. When produced in the decay of $m(\tilde{g})=2.4$ TeV gluinos, electroweakinos with $m(\tilde\chi^0_1)=1.5$ TeV are excluded with lifetimes in the range of 0.02 ns to 4 ns.
The results of a search for electroweakino pair production $pp \rightarrow \tilde\chi^\pm_1 \tilde\chi^0_2$ in which the chargino ($\tilde\chi^\pm_1$) decays into a $W$ boson and the lightest neutralino ($\tilde\chi^0_1$), while the heavier neutralino ($\tilde\chi^0_2$) decays into the Standard Model 125 GeV Higgs boson and a second $\tilde\chi^0_1$ are presented. The signal selection requires a pair of $b$-tagged jets consistent with those from a Higgs boson decay, and either an electron or a muon from the $W$ boson decay, together with missing transverse momentum from the corresponding neutrino and the stable neutralinos. The analysis is based on data corresponding to 139 $\mathrm{fb}^{-1}$ of $\sqrt{s}=13$ TeV $pp$ collisions provided by the Large Hadron Collider and recorded by the ATLAS detector. No statistically significant evidence of an excess of events above the Standard Model expectation is found. Limits are set on the direct production of the electroweakinos in simplified models, assuming pure wino cross-sections. Masses of $\tilde{\chi}^{\pm}_{1}/\tilde{\chi}^{0}_{2}$ up to 740 GeV are excluded at 95% confidence level for a massless $\tilde{\chi}^{0}_{1}$.