The incident made headlines worldwide after Mr Castile's girlfriend, Diamond Reynolds, live-streamed the aftermath on Facebook.
The footage shows an initially calm discussion, with Yanez walking up to Castile's window and notifying him about a broken brake light.
As Castile hands Yanez his insurance card, he says, "Sir, I have to tell you that I do have a firearm on me".
Castile: Sir, I have to tell you I do have a ...
"I'm (expletive) up right now", Yanez says at one point. Minnesota police officer Jeronimo Yanez is free.
Yanez fired seven shots total, hitting Castile five times.
He is heard telling Castile three times within several seconds not to reach for the weapon. Also made available were the audiotape interview of Yanez by BCA investigators, the radio call by Yanez, full reports from the "use of force" experts used by both the prosecution and defense and photos of Philando Castile's gun, his wallet and permit to carry a weapon. "I couldn't get a look at the other passenger, and I'll wait for you".
'My son loved this city, and this city killed my son, ' Castile's mother, Valerie, said as she stood on a corner outside the courthouse afterward. And as he was pulling it out I, a million things started going through my head.
He then yelled twice at Castile, "Don't pull it out!" before shooting into the auto seconds later.
"No, no, no", Terrill said after viewing the video. The video showed Yanez's backup officer, Joseph Kauser, standing on the passenger side of the vehicle, retreating when the shots were fired.
When she is outside of the auto, the audio can be heard as the video shows telephone or electrical wires across the blue sky. "Please no, don't let him be gone, Lord". The verdict set off a weekend full of protests from Castile supporters.
"How did a jury not see what the rest of the world did? Will there ever be accountability?"
One juror spoke to the media. For much of the 27 hours of deliberation, all but two were in favor of acquittal.
"The City of St. Anthony has concluded that the public will be best served if Officer Yanez is no longer a police officer in our city", the city said in a statement.