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The two University of Cincinnati police officers who arrived on scene just after a fellow officer shot and killed an unarmed driver will not face charges, a prosecutor announced Friday.

Officers David Lindenschmidt and Phillip Kidd responded when UC police officer Ray Tensing fatally shot Samuel DuBose after a traffic stop on July 19. Tensing was indicted on a murder charge on Wednesday and pleaded not guilty.

But a grand jury did not return charges against Lindenschmidt and Kidd, Hamilton County prosecutor Joseph T. Deters said Friday.

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The two officers are seen in body camera video appearing to corroborate Tensing’s claim that he was dragged by DuBose’s car before he fired. After Tensing says, "he was dragging me," Kidd responds, "Yeah, I saw that."

Tensing's own body camera footage revealed he was never dragged by DuBose’s vehicle.

Deters said that when questioned by Cincinnati police neither officer said they saw Tensing being dragged. The officers also testified before a grand jury.

"When the officers were specifically asked about what they saw and heard, their statements matched Tensing’s body camera video," Deters said. "These officers have been truthful and honest about what happened and no charges are warranted."

In the official incident report of the shooting, Officer Eric Wiebel wrote that Kidd said he saw DuBose's car drag Tensing.

"There was some confusion over the way the initial incident report was drafted but that was not a sworn statement by the officers and merely a short summary of information," Deters said in a statement.

Related: Battle-Tested Cincinnati Applies Lessons from 2001 in Reaction to Samuel DuBose Death

Lindenschmidt and Kidd were placed on paid administrative leave, the university announced Thursday, and they will remain on leave until an internal investigation is complete, Michele Ralston, a UC representative told NBC News.