Pearlie Golden died Tuesday after Officer Stephen Stem shot her at least twice.
Police were called to her home on reports she was brandishing a firearm, Robertson County District Attorney Coty Siegert said.
Officer Stephen Stem told Golden to drop her weapon at least three times said Hearne City Attorney Bryan Russ Jr. She didn't, and instead fired two shots into the ground, according to her nephew, who made the call to police.
In a meeting of the city council Saturday, council members voted unanimously to fire Stem.
Both Mayor Ruben Gomez and city attorney Bryan Ross recommended the disciplinary action against Stem.
Stem's attorney, Robert McCabe, said he is "fully confident that Officer Stem's actions were immediately necessary and legally justified."