Simon Murden, 26, was shot six times as he walked along the road on 22 March 2005.

A firearms officer claimed Mr Murden approached police armed with a sword despite being hit with several rounds.

The six-week inquest at Hull's Octagon heard Mr Murden was later found to have had three African swords with him.

Mr Murden was shot after driving his van the wrong way down the main A63 route in East Yorkshire.

He had crashed into a car and continued on foot before being confronted by armed officers.

The jury took 16 hours to reach a verdict of 10-1, saying they were satisfied that the shots were justified.

They also came to the conclusion that Mr Murden was suffering from a psychotic episode at the time of his death.

Mr Murden's mother, Dorothy Murden, broke down in tears as the verdict was read out.

Reading out a statement on behalf of the Murden family after the inquest, their solicitor, Jim Wyatt, said the family were "in shock" and "devastated" by the jury's findings.

He said: "In fact, they are amazed and bewildered that so much strong evidence was obviously rejected when considering the brutality of Simon's death."

Det Supt Judi Heaton said: "Clearly we're very distressed that we had to take this action.

"I'm not sure an apology is appropriate in this situation but we offer our condolences to the family."