Officers James and Romeo Francis were in the Bronx when they tried to pull over the vehicle that Mr. Espinal was driving because it had heavily tinted windows. Rather than stopping, the car sped onto the Henry Hudson Parkway, collided with two other vehicles and continued onto the Saw Mill River Parkway, where Mr. Espinal drove against traffic in the northbound lane and collided with three more vehicles, the statement said. He then ran into a wooded area near the parkway.

Image Miguel Espinal Credit... New York Department of Corrections

When Officer James caught up to him, Mr. Espinal tried to take his gun, according to the statement. The officer wrestled Mr. Espinal to the ground, but he resisted and reached for the gun, the statement said. Officer James fired one shot into the chest of Mr. Espinal, who was pronounced dead at the scene.

Norman Siegel, a lawyer representing the family of Mr. Espinal, said in an interview on Thursday morning that his relatives were “distraught” and were raising questions about the accuracy of parts of the report.

He said he would meet on Friday with a pathologist who conducted an independent autopsy to discuss the possibility of challenging some of the findings.

Mr. Schneiderman noted that the inquiry would have “benefited greatly from videotaped evidence” and urged police departments to have officers wear body cameras and use ones attached to the dashboards of police vehicles.