The 43-year-old death row inmate was executed just after 6 p.m. at the state prison in Huntsville, KWTX-TV, Waco, reported.
Martin had requested no additional appeals be filed on his behalf, clearing the way for his execution, the TV station said.
Martin was the 16th person to be executed in Texas in 2013. No other executions are scheduled in the state this year.
Martin was serving a 50-year sentence for attempted capital murder when he and a second inmate ran off from a work detail outside a Huntsville-area prison in September 2007. The two inmates then stole a city of Huntsville truck and Martin drove it into corrections officer Susan Canfield, 59, who fell and suffered fatal head injuries.
The second inmate, John Falk, is awaiting a retrial in the case, the TV station said.