No charges will be filed against a man who shot and killed an alleged carjacker Friday in Lake Park, according to the Palm Beach County Sheriff’s Office.

An investigation showed that Terrence Wilson Jr., 22, was shot to death by the unidentified man after he attempted to carjack a vehicle with the man’s 5-year-old daughter sitting in the back seat.

The shooting took place at 10th Street and Greenbrier Drive, a few blocks north of Lake Park’s downtown Park Avenue strip.

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The man told homicide investigators he left the car running and went inside a barber shop to pick up his 12-year-old son.

Wilson allegedly opened the driver’s side door, jumped in and attempted to drive away. The father yelled at Wilson to stop then fired his weapon “in fear of his daughter’s safety,” the sheriff’s office said.

The man, who PBSO said has a concealed weapons permit, managed to get into the car and steer it to a stop.

The 5-year-old girl was not injured.

Wilson was a graduate of Riviera Beach Preparatory Academy and worked at a local fast-food restaurant to support a family that included a 1-year-old son, according to a family friend.

Court records show that Wilson has been arrested twice in Palm Beach County since February 2016. He was found guilty of burglary in May 2016 after breaking into a car in suburban Boca Raton.

Wilson, a resident of Riviera Beach, was sentenced to 180 days in jail.

Wilson was also arrested in November 2016 after he allegedly failed to show up for a court date for driving without a license.