The family of Walter L. Scott, the African-American man who was fatally shot by a white police officer in North Charleston, S.C., reached a $6.5 million settlement with the city Thursday that precludes Mr. Scott’s family from bringing civil claims over his death.

The North Charleston City Council voted to authorize the settlement at its meeting Thursday night, according to lawyers for the Scott family and a statement issued by the city.

A passer-by’s video of the April 4 killing appears to show the officer shooting Mr. Scott in the back while he was running away. The shooting sparked a national furor and became part of a broad and passionate conversation about American policing methods and the fate of African-Americans at the hands of some officers.

The police officer, Michael T. Slager, was fired shortly after the shooting. He has been jailed since April 7. In June, he was indicted by a grand jury on a murder charge. Mr. Slager has not been arraigned, but Andy Savage, his lawyer, said that Mr. Slager denied any culpability for the killing.