A New York Police Department detective was fatally shot by friendly fire while responding to an armed robbery in Queens on Tuesday afternoon, NYPD Commissioner James O’Neill said.

Det. Brian Simonsen, a 42-year-old who served in the NYPD for 19 years, was shot in the chest and killed after he and fellow officers responded to the call of a robbery in progress at a T-Mobile store, Mr. O’Neill said. His sergeant, identified by police officials as Matthew Gorman, was shot in the leg and taken to the hospital in stable condition....