Senatobia Police Sgt. Hunter Foster resigned Friday, turning in his badge and gun just days after Mississippi Attorney General Lynn Fitch's office determined that his fatal shooting of 1-year-old Kohen Wiley was a justified use of force.

Foster, who had been on leave since shortly after the June 14 incident, submitted his resignation letter earlier this week. The Senatobia board of aldermen accepted it on October 21, and it took effect immediately, city officials confirmed.

The shooting occurred in the parking lot of a Walmart in Senatobia, about 40 miles south of Memphis. Officers and deputies responded after store employees reported shoplifters fleeing with diapers and baby clothes. Body camera footage shows the vehicle driven by Wiley's friend accelerating toward officers after they ordered it to stop. Foster fired three shots into the car, striking the driver and killing the toddler, who was on his mother's lap in the front passenger seat.

Foster's attorney, Martin Zummach, stated that his client had no choice but to discharge his weapon because the driver was attempting to strike the officers. Zummach noted that Foster emphatically denied knowing a child was in the vehicle and had no idea the occupants were suspected of shoplifting at the time, as officers were responding to reports that individuals were fleeing the scene.

The attorney general's office reviewed the case for months before concluding the use of force was justified and declining criminal charges. Video footage from body cameras and surveillance was released by the Mississippi Department of Public Safety on Thursday.

Foster's lawyer added that the resignation was submitted for the good of the city and the police department to allow healing to begin. Senatobia Mayor Greg Graves confirmed the departure through city staff.

The family has disputed aspects of the account and called for a federal investigation, with civil rights attorney Ben Crump representing them.