In addition to the second-degree murder charge, Trooper Londregan was charged with first degree assault and second-degree manslaughter.
Peter B. Wold, a lawyer for Trooper Londregan, 27, did not immediately comment on the charges.
Mr. Cobb, a 33-year-old Black man, was fatally shot on July 31 after state troopers including Trooper Londregan, who is white, pulled him over on Interstate 94 for driving without working taillights, according to the Minnesota Department of Public Safety.
During the stop, the troopers determined that Mr. Cobb was subject to arrest over a suspected violation of a protective order involving a former romantic partner, officials said.
Police body-camera footage released shortly after the shooting showed the sequence of events.
Trooper Brett Seide, one of three officers at the scene, asked Mr. Cobb to get out of his car as Trooper Seide stood by the driver’s side door. Mr. Cobb, who was alone in the car, can be heard questioning the request and demanding to know whether there was a warrant for his arrest.
Trooper Londregan, who was standing on the passenger’s side of the car, can be seen opening the door and reaching inside in an effort to force Mr. Cobb out, the body-camera footage shows. Trooper Seide did the same on the driver’s side. Almost immediately, Mr. Cobb’s vehicle can be seen lurching forward.