St. Anthony Police Officer Jeronimo Yanez shot Castile several times after he was pulled over with his girlfriend, Diamond Reynolds, and her 4-year-old daughter in Falcon Heights, Minnesota, outside of St. Paul.
By Friday evening, thousands of peaceful protesters had gathered in St. Paul and were marching through the streets.
About 250 people march from St. Anthony Police headquarters down Silver Lake Road, chanting "No killer cops, no KKK, no racist U.S.A".
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Prosecutors said Yanez was not justified in firing his gun, saying that Castile was courteous and non-threatening.
Castile's death was captured via a Facebook livestream launched by his girlfriend seconds after he was shot by the police officer. Flowers and handmade signs have decorated the stretch of road since the killing of Castile, which in part was streamed onto Facebook live (warning: graphic content) by his girlfriend.
An attorney for Yanez, Earl Gray, praised the verdict. After the rally, police said roughly 2,000 people marched down streets in St Paul, at times blocking traffic at intersections.
Protestors marched from the state capitol in St. Paul and, as they did a year ago, about 500 marched down the ramps onto Interstate 94, blocking traffic on the busiest traffic connection between the Twin Cities.
According to Columbus Police, four of the officers were injured while attempting to move the protestors.
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For the case to go before a federal court, there is a higher standard of proof. No video existed of exactly what happened inside the vehicle. "Sir, I have to tell you that I do have a firearm on me", he said.
The jury cleared the policeman of second degree manslaughter and two counts of felony of intentional discharge of a risky weapon for endangering the safety of Ms Reynolds and her four-year-old daughter.
St. Aoro said she believes the jury makeup was wrong from the trial's outset. Unlawful assembly and other charges are pending against them, it said.
"The fear that Officer Yanez had of Philando Castile in his passenger seat is one that is taught to us and one that is prevalent in our communities". Valerie Castile denounced the unanimous jury decision and declared, "The system continues to fail black people, and it will continue to fail you all".
During the trial, Yanez testified that Castile was pulling out his gun from his pocket despite his commands not to do so.
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Outside the courthouse, Castile's mother said Yanez got away with murder.