The father of one had been arrested after being stopped for reckless driving, police said, before being allegedly beaten by the officers for three minutes.
Five black officers involved in the arrest were subsequently sacked after a police investigation found they used excessive force or failed to intervene and help him.
Officials are expected to release bodycam footage of the incident on Friday evening.
“We’re here today because of a tragedy that wounds one family deeply but also hurts us all,” district attorney Steve Mulroy said at a news conference.
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He added that the five officers have been charged with second-degree murder, aggravated assault, aggravated kidnapping and official misconduct.
The Memphis Police Department identified them as Tadarrius Bean, Demetrius Haley, Emmitt Martin III, Desmond Mills, Jr, and Justin Smith, who are all black and aged between 24 and 32.
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Each officer had served with the department for around two and a half to five years, and were dismissed from the force last Saturday.
Meanwhile, two Memphis Fire Department employees who were involved in the response were also relieved of their duties during an investigation, a department spokesperson said earlier this week.
President Biden said in a statement: “Outrage is understandable, but violence is never acceptable.
“Tyre’s death is a painful reminder that we must do more to ensure that our criminal justice system lives up to the promise of fair and impartial justice, equal treatment and dignity for all.”
Memphis Police Chief Cerelyn Davis said on Wednesday that other police officers remain under investigation for police infractions.
In a video shared on YouTube, she asked for calm when the bodycam footage is made public.
“I expect you to feel what the Nichols family feels. I expect you to feel outrage in the disregard of basic human rights,” she said.
“I expect our citizens to exercise their First Amendment right to protest, to demand action and results, but we need to ensure our community is safe in this process.”
Several recent incidents of police brutality against black people in the US have sparked outrage and calls for reforms in policing.
Second-degree murder will go a considerable distance in meeting public’s expectations
America has been here before. A black man dead at the hands of police officers, brutality captured on camera.
Rodney King and George Floyd are just two names that define a deadly dysfunction in the institution that exists to protect and serve.
Now add Tyre Nichols – 29 years old, a father and family man who worked at FedEx and enjoyed skateboarding. “Nobody’s perfect,” said his mother RowVaugn. “But he was damn near.”
We are told the events leading up to his death are contained in a video lasting an hour, multiple angles of what has been trailed as a savage assault.
A lawyer for the Nichols family spoke of him being beaten “like a human pinata”. The Friday night release of the footage is shrouded by a sense of dread.
Experience shows it is shocking video content of a sort liable to ignite violent street protests and, in Memphis, they are aware of the danger. It explains why the build-up to the release of the footage has been choreographed around charges for the police officers involved.
In a place where the public demands accountability, laying charges of second-degree murder will go a considerable distance towards matching expectations. Murder in the second degree accuses the officers of knowingly killing Mr Nichols.
Does it make a difference that the five men in uniform were black? Perhaps. Time will tell if, and how, that plays into the wider public response.
Much of the reaction, so far, has focused on the power that police have and the inclination to abuse it with deadly consequences. In video form, evidence of it will soon be laid bare – and Memphis is braced.
The Nichols family watched the police footage on Monday with their lawyer, Ben Crump, who compared the beating to the 1991 Los Angeles police assault on Rodney King that was captured on video and sparked protests and police reforms.
“He was defenceless the entire time. He was a human pinata for those police officers,” Antonio Romanucci, Mr Crump’s co-counsel, told reporters.
Mr Crump said Nichols’ last words heard on the video were of him calling for his mother three times.
Donald Trump says a meeting is being set up between himself and Vladimir Putin – and that he and Barack Obama “probably” like each other.
Republican US president-elect Mr Trump spoke to reporters at his Mar-a-Lago resort in Florida on Thursday, saying Russian president Mr Putin “wants to meet, and we are setting it up”.
“He has said that even publicly and we have to get that war over with. That’s a bloody mess,” Mr Trump said.
Kremlin spokesperson Dmitry Peskov said on Friday there was a “mutual desire” to set up a meeting – but added no details had been confirmed yet and that there may be progress once Mr Trump is inaugurated on 20 January.
“Moscow has repeatedly declared its openness to contacts with international leaders, including the US president, including Donald Trump,” Mr Peskov added.
“What is required is a mutual desire and political will to conduct dialogue and resolve existing problems through dialogue. We see that Mr Trump also declares his readiness to resolve problems through dialogue. We welcome this. There are still no specifics, we proceed from the mutual readiness for the meeting.”
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Trump on Obama: ‘We just got along’
Mr Trump also made some lighter remarks regarding a viral exchange between himself and former Democrat President Barack Obamaat Jimmy Carter’s funeral on Thursday.
The pairsat together for the late president’s service in Washington DC on Thursday, and could be seen speaking for several minutes as the remaining mourners filed in before it began.
Mr Obama was seen nodding as his successor spoke before breaking into a grin.
Asked about the exchange, Mr Trump said: “I didn’t realise how friendly it looked.
“I said, ‘boy, they look like two people that like each other’. And we probably do.
“We have a little different philosophies, right? But we probably do. I don’t know. We just got along. But I got along with just about everybody.”
The amicable exchange comes after years of criticising each other in the public eye; it was Mr Trump who spread the so-called “birther” conspiracy theory about Mr Obama in 2011, falsely asserting that he was not born in the United States.
Mr Trump has repeatedly attacked the Obamas, saying the former president was “ineffective” and “terrible” and calling former first lady Michelle Obama “nasty” as recently as October last year.
On Kamala Harris’s campaign trail last year, Mr Obama said Mr Trump was a “78-year-old billionaire who has not stopped whining about his problems since he rode down his golden escalator nine years ago”, while the former first lady said that “the consequences of him ever being president again are brutally serious.”
The US Supreme Court has rejected a last-ditch attempt by Donald Trump to delay sentencing in the Stormy Daniels hush money case.
The president-elect was convicted on 34 counts last May in New York of falsifying business records relating to payments made to Ms Daniels before the 2016 presidential election.
Prosecutors claimed he had paid her $130,000 (£105,300) in hush money to not reveal details of what Ms Daniels said was a sexual relationship in 2006.
Mr Trump has denied any liaison with Ms Daniels or any wrongdoing.
By a majority, the Supreme Court found his sentencing would not be an insurmountable burden during the presidential transition since the presiding judge, Juan M Merchan, has indicated he will not give Mr Trump jail time, fines or probation.
Mr Trump’s attorneys argued that evidence used in the Manhattan trial violated last summer’s Supreme Court ruling giving Mr Trump broad immunity from prosecution over acts he took as president.
At the least, they said, the sentencing should be delayed while their appeals play out to avoid distracting Mr Trump during the presidential transition.
Mr Trump’s attorneys went to the justices after New York courts refused to postpone sentencing.
Judges in New York found that the convictions related to personal matters rather than Mr Trump’s official acts as president.
Mr Trump’s attorneys called the case politically motivated, and they said sentencing him now would be a “grave injustice” that threatens to disrupt the presidential transition as the Republican prepares to return to the White House.
Mr Trump has said he will appeal again: “I respect the court’s opinion – I think it was actually a very good opinion for us because you saw what they said, but they invited the appeal and the appeal is on the bigger issue. So, we’ll see how it works out,” he said at a dinner with Republican governors at his private club in Florida.
Because the New York case was a state, rather than federal crime, Mr Trump will not be able to pardon himself when he takes office on 20 January.