Minneapolis Police Chief Medaria Arradondo said the four officers were now “former employees”.
Footage shows the man, George Floyd, groaning and repeatedly saying “I can’t breathe” to the white officer.
The incident echoed that of Eric Garner, a black man who died being arrested in New York City in 2014.
The FBI has said it will investigate the Minneapolis incident, which took place on Monday evening.
Minnesota police said 46-year-old Mr Floyd, who had worked providing security at a restaurant, died after a “medical incident” in a “police interaction”.
On Tuesday afternoon, Mayor Jacob Frey confirmed the four officers involved in the incident had been “terminated”.
“This is the right call,” he tweeted.
At a press conference earlier, Mr Frey had described the incident as “completely and utterly messed up”.
“I believe what I saw and what I saw is wrong on every level,” he said. “Being black in America should not be a death sentence.”https://www.bbc.com/news/world-us-canada-52806572