Pastor Terence Crutcher died in hospital on Friday from a single shot fired by officer Betty Shelby in Tulsa, Oklahoma.
She opened fire after the 40-year-old was initially tasered by another cop on the scene.
In an attempt to appease growing anger in the community, police chief Chuck Jones assured residents justice would be served.
Before releasing the video today, he said: Im going to tell you right now, there was no gun on the suspect or in the suspects vehicle
â€œI want to assure our community and I want to assure all of you and people across the nation watching this: We will achieve justice.
He added he found the video very disturbing, very difficult to watch.
Crutcher, centre, is pursued by police officers as he walks to a car
The pastor is seen with his hands in the air
Police, who had been called to his broken down SUV, has initially said Crutcher refused their commands to raise his hands and later reached inside the vehicle.
However, footage shot from a police car as well as a police helicopter shows him with his hands in the air when as he was spoken to by officers.
At one point a policeman is heard saying he had his hands in the air.
Crutcher was tasered before he was fatally shot
“He’s got his hands up there for her now,” an officer could be heard saying in the video from the helicopter as it hovered overhead.
“Time for a Taser, I think,” another officer said as the four officers pointed their weapons toward Cutcher from a few feet away.
“I’ve got a feeling that’s about to happen,” the first officer said.
Officer Betty Shelby is now on leave pending an investigation
“That looks like a bad dude, too,” the other officer said. Crutcher was on the ground moments later.
“Shots fired,” a woman’s voice said.
Following the shooting Crutcher was rushed to hospital but later died from his injuries.
Police at the scene of the fatal shooting in Tulsa
Shelby has since been placed on paid administrative leave and is now under investigation.
Family members and community leaders who have viewed the footage said it clearly shows Crutcher’s hands were in the air when he was shot.
â€œWe saw that Terence did not have any weapon,â€said the familyâ€™s attorney Damario Solomon-Simmons.
â€œTerence did not make any sudden movements. We saw that Terence was not being belligerent.â€
Police chief Chuck Jones said the footage was “difficult to watch”
Terrence Crutcher’s death is the latest at the hands of law enforcement
US Attorney Danny C. Williams said the Department of Justice will conduct a separate civil rights investigation into the shooting.
â€œThe Justice Department is committed to investigating allegations of force by law enforcement officers and will devote whatever resources are necessary to ensure that all allegations of serious civil rights violations are fully and completely investigated,â€ he said.
The death is the latest in a long line of fatal shootings by officers of black men that have led to racial tensions across the States.