Drummer Lee Rigby, 25, was killed on a busy street in Woolwich, south-east London on Wednesday. Two men, Michael Adebolajo, 28, and Michael Adebowale, 22, have been arrested in connection with his murder. The UK's security services now face a Commons inquiry after it was confirmed the two men had been known to MI5 for eight years. Follow our live coverage of the day's events here.
Video footage, obtained by the Daily Mirror, has emerged showing the moment police shot Mr Adebolajo, originally of Romford, east London, and Mr Adebowale, of Greenwich, south-east London.
The video shows one of the men charge at police sitting in a patrol car. He drops a knife as he is shot and falls to the ground. The other man is shown aiming a gun at officers as he runs in a different direction. Police are heard firing eight shots in total at the two men.
The Independent Police Complaints Commission (IPCC) says it has reviewed CCTV footage and confirms two officers fired shots and one officer discharged a Taser. IPCC Commissioner Derrick Campbell says that at this stage the watchdog is "not pursuing any criminal or misconduct offences" against the officers.
Two further people have been arrested in connection with the murder of Drummer Rigby. A man and a woman, both 29, were arrested on Thursday evening on suspicion of conspiracy to murder. They are being interviewed by detectives at a south London police station.
This morning, the government has been defending security services against criticism that they missed signs which might have helped prevent the murder of Drummer Rigby - a father-of-one, from Manchester, who had fought in Afghanistan with the 2nd Battalion The Royal Regiment of Fusiliers.
Communities Secretary Eric Pickles tells BBC News that as a free society the UK is "particularly vulnerable" to the kind of attack seen in Woolwich. He defends the security services, who have been "very successful at stopping a number of similar plots", but says any judgement on their performance will have to wait until after the Commons inquiry.
Mr Pickles says the response to the Woolwich attack is different to what was seen after the 7/7 bombings in London in 2005. He says the community is unified in condemning the actions of the men as "utterly wrong and utterly inexcusable".
There has been widespread condemnation of Wednesday's attack. Azad Imani, an imam of several mosques in Manchester, tells the BBC it was a "cold blooded murder" carried out by "crazed individuals". He says the behaviour is "universally condemned" and Muslims who are radicalised "don't have an understanding of their faith".