Much of the incident, in which Castile, 32, was shot in his vehicle, was streamed live on social media.
Thousands of chanting demonstrators are continuing a march toward the St. Paul Cathedral to protest a police officer's acquittal in the shooting of a black motorist.
The city of St Anthony police department said Yanez will not be returning to work in the city. One teacher testified at trial that Castile remembered which kids had allergies, and nudged students to finish their veggies.
Associated Press writer Doug Glass contributed from Minneapolis. The video shows a frantic Yanez yelling and pointing his weapon at Castile, who sat slumped over and bloodied in the driver's seat. They were on their way home when he was shot. Castile volunteered that he was legally carrying a gun.
Earl Gray, who was representing officer Yanez, said "justice was done". He testified that he stopped Castile because he thought Castile looked like a suspect in a recent armed robbery. Reynolds' 4-year-old daughter was also in the auto at the time of the incident.
"I wasn't reaching for it", Castile murmured.
"I was scared to death". "I don't think that this was a fair jury".
Like several similar cases, Castile's death was shared worldwide on social media.
"Seventy-four seconds after Yanez activated his squad lights, he fired the last of seven shots into the auto", Minnesota Public Radio's Matt Sepic reported. Reynolds testified that she began recording the shooting's aftermath because she feared for her life and wanted to make sure the truth was known.
Passions and tension ran high, but as the night wore on and law enforcement officers slowly herded them off the freeway, many people left. Yes, I am. My firstborn son died. He also accused Castile of being influenced by drugs. He was faced two lesser counts of endangering Reynolds and her daughter for opening fire into the vehicle.
"The public will be best served if Officer Yanez is no longer a police officer in our city", a statement on the city's website said.
No video existed of exactly what happened inside the vehicle. He says the shooting had nothing to do with race.
Castile told him that he had a gun, and the officer - rather than asking for his carry permit, or asking where the gun was, or asking to see Castile's hands - just says, "Don't reach for it then".
"My son loved this state", Valerie said.
Outrage also came from former USA leader Bill Clinton's daughter Chelsea, actress Sanaa Lathan, Broadway star Audra McDonald, Emily Osment, and Anika Noni Rose, who tweeted: "This country, my home, is breaking my f**king heart". However, he did focus on the footage from Yanez's dash cam video.
John Choi, the Ramsey County prosecutor assigned to the case, told reporters following the verdict that Castile "did nothing that justified the taking of his life". The dashcam video has not been made public, pending the outcome of the case. Paulsen questioned Kauser at length about police procedure, what he saw during the stop, and how the shooting took him by surprise.
The City of St. Anthony fired Yanez Friday afternoon. His girlfriend argued that he was reaching for his wallet.
During the trial, the three took turns cross-examining the state's witnesses and presenting arguments to the jury. "What is it going to take?" she asked.
Judge William Leary denied the request.
December 23: Defense attorneys remove the first judge assigned to oversee Yanez's case, Judge Edward Wilson.
Castiles shooting was among a string of killings of blacks by police around the US, including two other cases on trial this week in OH and Wisconsin. The rest are white.