Officer Steven Heimsness resigned from the Madison Police Department on Oct. 14, according to the Wisconsin Professional Police Association.
As part of an settlement with the city, Police Chief Noble Wray agreed to withdraw charges against Heimsness filed with the City of Madison Police and Fire Commission and also agreed that no additional charges will be filed against Heimsness unless he is still employed by MPD after Nov. 23.
Heimsness was to be on paid sick leave until the approval of his Duty Disability Retirement application or the end of business Nov. 23, whichever came first.
Police said Paul Heenan, 30, was not armed when he mistakenly entered the wrong house two doors down from his own on a night in November 2012. Officers responded to a report of a burglary at the Baldwin Street address and Heenan was shot outside the home.
Heimsness was cleared of wrong-doing by authorities after internal reviews, police had said.
The state police union said Heimsness suffered from post-traumatic stress since the shooting.