A Williamson County grand jury has cleared three Round Rock Police officers of any wrongdoing in a fatal shooting from April 1st.

Bobby Williams was discovered running outside in the nude as officers responded to his family's home after a family disturbance complaint.

Video captured on police dashboard cameras shows officers trying to talk Williams into surrendering.

At one point during the ordeal, an officer dropped his baton.  Williams picked it up and police say he began threatening them and his family with it.  That's when officers opened fire hitting Bobby Williams 3-times.

"The officer was responding to Bobby Williams possessing and threatening others including officers and the public with this baton, at any time Bobby Williams could have released that baton and laid down on the ground and all of this would have stopped" says John Bradley, Williamson County District Attorney.

Williams' family says he hadn't taken his medication for anxiety for at least a week before he was shot to death.

Crystal Herrera, Williams' sister says she and her family are now working with police hoping to prevent similar tragedies in the future.

"My brother did not die in vain, he died so that we could make a positive change in this world and together my family and the Round Rock police department can make change" says Herrera.

A toxicology test showed that Williams did not have any illegal drugs in his system at the time he was shot.

The three officers involved in the shooting remain on administrative duty pending the outcome of the investigation.