BALCH SPRINGS, Tex. — A police officer in a Dallas suburb was charged with murder on Friday, six days after he fired his rifle into a car full of teenagers leaving a party, killing a black 15-year-old in the front passenger seat.

The Dallas County Sheriff’s Department issued a warrant on Friday for the arrest of the officer, Roy D. Oliver II, 37, the authorities said. Mr. Oliver turned himself in Friday night in Parker County, Tex., officials said.

Mr. Oliver, who was a patrol officer with the Balch Springs Police Department, responded late last Saturday to reports of underage drinking at a house party. Mr. Oliver and another officer entered the house but left after the police said they heard gunshots outside the residence.

As a car with five black teenagers inside drove away from the house, Mr. Oliver, who is white, fired his AR-15 rifle, fatally striking Jordan Edwards, a freshman at Mesquite High School, in the head, according to the police and the law firm representing the Edwards family.