Relatives of Mark Duggan proclaimed "we are not a gangster family" as they held a peaceful vigil outside Tottenham police station.
Around 500 protesters gathered outside the three-storey building in north London, but despite warnings from the Metropolitan Police that some were planning to "cause disorder", it passed off without trouble.
The vigil was staged in protest at what Duggan's family have branded a "perverse" inquest finding last week when a jury decided that the 29-year-old had been lawfully killed by police.
Duggan's death at the hands of a Metropolitan Police marksman sparked riots across Britain in 2011.
His mother Pamela, aunt Carole and brother Marlon were joined by crowds carrying placards which read "Justice for Mark Duggan".
They held a minute's silence before chanting "No justice, no peace" and "Who are the murderers? Police are the murderers."
Carole Duggan told protesters that the media was to blame for portraying her nephew as a gangster.
She said: "The more we people come together and support each other, maybe we can make a better life for our children, for all of those children who have to live in these communities that are over-policed, where they are not free."
She added: Mark isn't here and we are doing this for his children."
Trade unionists from the National Union of Teachers and RMT were present, while Tottenham Hotspur fans went past the protest to their game against Crystal Palace at nearby White Hart Lane.
As the protest came to an end, 20 white doves, symbolising peace, were released.