It began when the officer pulled the 48-year-old driver over in a parking lot on Esplanade for going more than 90 mph around 1:05 a.m.
The officer administered a field sobriety test and determined the man was possibly drunk. The officer then tried to arrest the man, and that's when a struggle broke out.
HPD says during the altercation, the officer pulled out his Taser and fired it, but at some point the suspect was able to get the Taser in his hands.
That's when the officer fired several rounds. Police say the suspect was shot at least twice.
"That suspect, during the struggle, was able to retrieve the officer's Taser," Houston Police Executive Assistant Chief Matt Slinkard said. "The officer, still giving verbal commands, at some time during that struggle, once the suspect had the Taser, discharged his weapon several times."
The suspect was transported to the hospital where he later died.
Police say the officer's body cam and dash cam were recording during the incident.
The District Attorney's office is investigating.
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