The officers arrived in the neighborhood at 9:13 p.m., the department said.
In their initial press release regarding the incident, police said officers were responding to a report of someone breaking auto windows near the home where a man, later identified as 22-year-old Stephon Clark, lived with his grandparents and siblings.
Before the shooting, Sacramento County Sheriff's Department deputies in a helicopter saw Clark break the sliding glass door at a neighbouring house. then hop a fence into the backyard where the two officers confronted him, police said.
"Hey show me your hands - stop, stop", one officer shouted.
The names of the officers - who fired a combined 20 rounds - at Clark, 22, in his own backyard, have not yet been released.
"Any peace officer who has reasonable cause to believe that the person to be arrested has committed a public offense may use reasonable force to effect the arrest, to prevent escape or to overcome resistance". "Gun, gun, gun", one of the officers yells before they begin shooting. Some protesters were seen surrounding a police vehicle and climbed on it, CNN affiliate KCRA reported.
Protesters marched from Sacramento City Hall onto a nearby motorway on Thursday, disrupting rush hour traffic and holding signs with messages including "Sac PD: Stop killing us!".
Two police officers chased Clark into the backyard.
"What happened was absolutely horrific and we are so very sorry, so very sorry for your loss", he added.More news: Caught on Camera: Skiers in Georgia forced to jump off ski lift
Hahn said that he "didn't know what the protest would entail, about getting on I-5 and things like that, but that he "knew emotions were high".
The officers can be seen encountering Clark and pursuing him into a backyard.
Body camera footage shows officers checking yards and speaking with neighbors before a sheriffs helicopter spots Clark in the backyard.
The decision to compel release of the videos followed a series of controversial incidents, including one in July 2016 in which two Sacramento Police Department officers tried to strike a mentally ill homeless man with their cruiser.
No weapon was found at the scene after Mr Clark's death, and it is believed he was holding an iPhone 6.
The protests on Thursday followed the release of police body cam footage the day before that revealed the officers had muted the microphones on their cameras soon after the shooting.
Clinton Primm, a friend of Mr Clark, fears others are also at risk of being shot by police.
About seven uneventful minutes into the footage, the officers broke into a jog, running past unlit houses or dimly lit windows, and headed to another house.
Sacramento Mayor Darrell Steinberg said this week that city officials would examine police protocol for how they identify themselves in such cases. Per department policy, the officers involved in the shooting have been placed on paid administrative leave.