Holt County Prosecuting Attorney Robert Shepherd determined that trooper Christopher Sullivan was justified in using deadly force during the stop in January near Craig in northwest Missouri.
Thomas Schroeder, 50, of Omaha, Neb., was stopped for speeding when the trooper suspected he was intoxicated.
The two men struggled and investigators say Sullivan was hit several times before shooting Schroeder.
Investigators found several drivers’ licenses and other forms of identification, partially consumed bottles of liquor and $3,800 in cash in Schroeder’s car.
Missouri patrol officials say Sullivan is back on duty.