A Michigan State Police trooper was acting in self-defense and defense of another officer when he killed a suspected car thief during a shootout outside the suspect's Detroit home in May, Attorney General Dana Nessel announced Tuesday.

The shooting, in the 20200 block of Murray Hill on Detroit's west side, claimed 23-year-old Martez Britt. Britt had fired at a trooper who was part of a team conducting an undercover investigation, striking the trooper in the lower back, leg and vest, authorities said. Another trooper returned fire, killing the suspect.

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