[BBC] Officer Jeronimo Yanez opened fire on 32-year-old Philando Castile after stopping his car in Falcon Heights, St Paul.
The aftermath was streamed live on Facebook by Mr Castile’s girlfriend who was a passenger in the car.
The death prompted widespread protests in St Paul.
The killing is one of a series of deaths of black men and boys at the hands of police – which has fuelled claims of institutionalised racism in US society.
Lawyers for Mr Yanez, who is Latino, have said that he reacted to the presence of a gun in the car. They say he stopped Mr Castile because he appeared to be a possible match for an armed robbery suspect.
Mr Castile’s family say he was racially profiled.
Speaking after the incident, Mr Castile’s girlfriend, Diamond Reynolds, said he was shot while reaching for his ID after telling the police officer he had a gun and a permit for it.
If found guilty, Mr Yanez faces a maximum prison sentence of 10 years.
Mr Castile’s death led to angry protests outside the governor’s mansion and another demonstration that shut down a main highway in St Paul for hours.