The Denver officer who shot a teen carjacking suspect in the ankle was cleared of any wrongdoing this week.

Cpl. Jeffrey Heinis shot at the 17-year-old on Aug. 16 after pulling the car over at 10th and Federal. The teen, who the district attorney would only identify as LAJ, was a suspect in an armed carjacking that happened two nights before.

Heinis said he shot at the teen after giving loud, verbal commands (which can be heard in the video) because he said LAJ was "a very imminent threat to everybody in the area, including myself."

Heinis said he was fearful the suspect had a gun and was running with it for a reason and worried he would carjack someone else if he escaped.

The entire exchange was caught on the officer's body camera.

The teen never pointed the gun at the corporal.

The 17-year-old suspect has since turned 18 and pleaded guilty to felony menacing charges last week.

It's his sixth conviction as a juvenile.

Read the entire release here