It happened in Eaton County back in February. The Eaton County Prosecutor says Sgt. Jonathan Frost's actions were lawful when he shot and killed 17-year-old Deven Guilford of Mulliken.
Investigators looked through hundreds of documents and photos as well as hours of videos before making this decision.
It took around three weeks for the Eaton County Prosecutor to decide not to file charges.
"No one wins in these particular situations," said Doug Lloyd. "But it's the prosecutor's responsibility to look at the facts and make and determination from the facts was there a crime or was there not a crime."
At Tuesday's press conference, Prosecutor Lloyd reviewed five minutes and 39 seconds of video out of the hours recorded the night of the shooting.
"A body cam that Sgt. Frost was wearing on the 28th as well as 2 videos that Deven Guilford decided to video that night on his cell phone," explained Eaton County Prosecutor Douglas Lloyd.
It starts with Sgt. Frost pulling Guilford over for flashing his lights.
"You cannot flash your high beams at an individual within 500 feet," said Lloyd. "If you do it's a civil infraction."
Guilford says he flashed the Sgt. because he had his own brights on. The Sgt disagrees. Guilford can be heard on the video asking for the Sgt's badge number. He then starts recording on his cell phone.
"I am video and audio recording for my safety and your safety," Guilford says in the video.
"That's fine. So am I," responds Sgt. Frost.