Nichols' family, along with protesters who rallied at a police station and the National Civil Rights Museum, have pushed for the release of police body camera footage and called for officers to be charged.
Relatives have accused police of beating Nichols and causing him to have a heart attack. Authorities said Nichols experienced a medical emergency.
Nichols was arrested after officers stopped him for reckless driving, police said. There was a confrontation when officers approached the driver and he ran before he was confronted again by the pursuing officers, who arrested him, authorities said. He complained of shortness of breath and was hospitalized.
Officials said a cause of death has not yet been determined.
Relatives have said the officers who pulled over Nichols were in an unmarked vehicle and that he experienced cardiac arrest and kidney failure from the officers beating him.
Memphis Chief of Police Cerelyn “CJ” Davis and Mayor Jim Strickland said video footage of the arrest will be released after the police department’s investigation is completed and the family can review it.
The city leaders are arranging a meeting early next week with Nichols' family, according to a joint statement from Strickland and Davis.
Attorneys Ben Crump and Antonio Romanucci, who represent Nichols' family, issued a statement Friday saying they support the department's decision to fire the officers.
“This is the first step towards achieving justice for Tyre and his family. They must also be held accountable for robbing this man of his life and his son of a father,” the statement said.
The attorneys said they “will continue to demand transparency and accountability” and plan to review video footage to seek additional clarity about the circumstances leading to Nichols' death.