The graphic footage shows officers involved in a violent altercation with Nichols.
The five police officers involved in the incident were released from their positions with Memphis PD, and are facing charges of second-degree murder.
The city of Memphis has been bracing for riots in the lead-up to the release of footage. In New York, Antifa vowed to "burn it all down." FBI Director Christopher Wray called for peaceful protest.
Protestors gathered in Memphis in advance of the video release.
Protestors could be seen marching toward traffic, chanting "fuck around and find out."
Additional video released by Memphis PD shows the officers driving up to the scene, where Nichols is on face down on the ground.
In the lead-up to the release of footage, the city of Memphis braced for impact, with shop owners boarding up their businesses.
Nichols, 29, was pulled over by officers on suspicion of reckless driving on January 7, police initially said. Officers approached his vehicle and a confrontation occurred, which led to Nichols fleeing on foot.
Officers chased him, detained him, and took him into custody. Nichols complained of shortness of breath after the incident and was taken to the hospital where he died three days later, on January 10.
This is a breaking story and will be updated.
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