Kenneth Walker, the former boyfriend of Breonna Taylor who was with her when she was killed by police, said on Wednesday's episode of Red Table Talk that he believes "the only crime I committed that night was being Black."

More than two years since that momentous night, Walker shared his story on the show, hosted by actress Jada Pinkett Smith along with her mother, Adrienne Banfield-Norris, and Willow Smith, Pinkett Smith's daughter. Now in its fifth season, Red Table Talk airs every Wednesday on Facebook Watch with a variety of guests each week.

Walker, now 30, was joined by Taylor's mother, Tamika Palmer, and Taylor's sister, Juniyah Palmer, along with members of the family's legal team. He didn't cover much new ground in the episode but detailed the story that upended his life – Louisville Metro Police officers on the scene that night did not identify themselves as police before entering the apartment, he said, and he fired the gun that he owned legally at officers because he thought if they were police, they would have said so before entering the residence.

LMPD officers had a no-knock warrant that night and have said they announced their presence before entering the residence. Several neighbors have said they did not hear police announce themselves before the shooting.

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Walker was arrested and charged with assault and attempted murder in the aftermath of the event, as a bullet he fired hit then-LMPD Sgt. Jonathan Mattingly in the thigh. Those charges were dismissed with prejudice in March 2021.

Taylor's mother said police fired dozens of bullets during the interaction, and if Walker, the lone witness, had not survived, "we probably would have never known what happened that night."

Taylor was shot and killed by police in March 2020, which sparked a large protest movement against police violence in Louisville and around the country. Only one person was charged at the state level – former LMPD officer Brett Hankison, who was found not guilty of wanton endangerment over bullets he fired that entered other nearby apartments.

Federal charges, meanwhile, were filed about two months ago against four current and former LMPD officers accused of violating Taylor's civil rights, amid accusations they lied in the search warrant that allowed them to enter the apartment and had obstructed an investigation into the case. One former officer, Kelly Goodlett, has pleaded guilty to helping falsify an affidavit for the search of the apartment. Hankison was also federally charged over accusations he put Taylor's neighbors in danger.

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LMPD is also being sued by The 490 Project in a lawsuit filed last week over accusations the department violated state law by illegally withholding and destroying records potentially related to Taylor's case.

The complete Red Table Talk interview can be seen on Facebook Watch.

Contact Caleb Stultz at cstultz@gannett.com. Follow him on Twitter at @Caleb_Stultz.