Prosecutors say officer Christopher Schurr acted unreasonably and without justification by killing Patrick Lyoya, 26, in a scuffle over a Taser.
The incident - which renewed the racially charged US debate over police brutality - led to widespread protests.
Mr Schurr is charged with second-degree murder and could face life in prison.
Footage of the 4 April incident in the town of Grand Rapids, Michigan, shows Mr Lyoya fleeing from Mr Schurr on foot following a traffic stop.
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The two men scuffle over Mr Schurr's Taser before he shoots Mr Lyoya, who was face-down on the ground. Police said that Mr Schurr, who is white, accidentally turned off his body camera during the altercation.