The attorney for former Officer Thomas Lane last week filed the video from his client and from fellow former Officer J. Kueng. But until now, only written transcripts of the encounter had been made public.
The videos can be viewed only by appointment.
Lawyers for Lane and Kueng, in addition to news media outlets, are petitioning to make the videos public, arguing that they will help construct a fuller picture of what happened during Floyd's encounter with law enforcement on May 25.
Floyd died after former Officer Derek Chauvin knelt on his neck for almost nine minutes while Floyd told the officers he couldn't breathe. Chauvin is charged with second-degree murder, third-degree murder and manslaughter.
Former officers Lane, Kueng and Tou Thao were also on the scene while the incident occurred and are charged with aiding and abetting both second-degree murder and manslaughter.