None of the firearms officers involved in the fatal shooting of man during a police operation will face charges.
The IPCC investigated the fatal shooting
Azelle Rodney, 24, of west London, died after police opened fire in Edgware, north-west London last April, on the car he was a rear-seat passenger in.
An investigation followed but the Crown Prosecution Service said there was insufficient evidence to prosecute.
Two men who were in the car with Mr Rodney are now in jail after admitting firearms offences.
The vehicle had been under surveillance by the Metropolitan Police as a result of intelligence which suggested the men were in possession of firearms.
Police decided to intercept the vehicle and it was stopped by specialist firearms officers. Mr Rodney was fatally shot by a police officer in the ensuing operation.
Three loaded and fully operational guns were later recovered from the car.
The shooting was investigated by the Independent Police Complaints Commission (IPCC) and a report was submitted to the Crown Prosecution Service (CPS) in January.
In response to the news Mr Rodney's relatives said they were "extremely disappointed but not surprised" with the decision.
They also said that until all the evidence had been heard at an inquest "any decisions on possible disciplinary action would be premature."
Deputy Assistant Commissioner John Yates offered the force's condolences to Mr Rodney's family.
He added: "Day in, day out officers from the specialist firearms unit perform what is a necessary role for the safety of us all here in the capital.
"Without these officers standing between unarmed colleagues and the public, and dealing with some of the most dangerous policing situations, the threat to all Londoners from armed criminals would be very different indeed.
"The situation facing our officer that evening clearly left him with no option than to take the course of action he did."
A Metropolitan Police officer was removed from firearms duty in May last year following the shooting but was not suspended.
Scotland Yard said its Directorate of Professional Standards would decide whether there were any misconduct issues to address.