Johnson said Miller shot Taylor when Taylor began to advance toward the officer. But he said there was no physical contact between the officer and Taylor before Taylor was shot.
The Arlington Police Department had earlier released surveillance video of Taylor kicking in a car windshield and then driving his SUV through the glass wall of the Arlington dealership,according to CBS Dallas.
Johnson said it will be up to a grand jury to decide whether Miller should be charged criminally.
After announcing the firing of Brad Miller, Chief Johnson went on to say that the department will continue to review the actions and the tactics for all personnel.
Taylor played football at Angelo State University in San Angelo. Security footage from the dealership lot shows Taylor breaking the windshield of a car on the lot before driving his own vehicle into a glass showroom.