Cell phone video showed Sterling pinned to the ground by the officers before he was shot; police said Sterling was reaching for a gun.

The fatal encounter between the two White police officers and Sterling, a Black man, helped spur Black Lives Matter protests across the nation.

The killing gripped the nation in part because two videos taken by bystanders, each less than a minute long, were released publicly shortly after the shooting and captured the final part of Sterling's struggle with the two officers.

No charges were brought against the officers involved.

"On behalf of the family of Alton Sterling, we are pleased to announce that we have reached a $4.5 million settlement with the city of Baton Rouge and dismissed our lawsuit against the city and others," the attorneys say in a statement.

The statement also says the settlement will allow the city to heal and help the children to be provided for financially.

The attorneys also said they were grateful for what they called "significant policy changes" undertaken by the city and the Police Department.

CNN has reached out to the Baton Rouge police and the city for comment on the settlement.

Mayor Pro Tem LaMont Cole told CNN affiliate WBRZ, "Any time we can move beyond an issue that was so polarizing here in our community I think it's a good thing."

Blane Salamoni, the officer who fatally shot Sterling, was fired in March 2018 for violations of the department's use of force policy, according to Chief Murphy Paul.