The officers - Derek Chauvin, J Alexander Kueng, Thomas Lane and Tou Thao - arrested Mr Floyd for an alleged fake $20 (17.5 euros; £16) bill.
Mr Floyd, an unarmed black man, died in custody on 25 May.
White officer Mr Chauvin was filmed pressing his knee on Mr Floyd's neck for almost nine minutes before he died.
Mr Kueng and Mr Lane, two trainee officers, were days into the job when the incident happened.
Personal details about the four officers have been released by authorities in Minneapolis. Here is what we know so far.
What was his role?
Mr Chauvin, 44, was filmed kneeling on Mr Floyd's neck while he was handcuffed on the floor repeatedly pleading "I can't breathe".
What are the charges?
Mr Chauvin has been charged with second-degree murder. He was initially charged with third-degree murder and second-degree manslaughter - two charges he still faces.
What's his background?
Mr Chauvin was the most senior officer involved in Mr Floyd's arrest, serving for almost 19 years with the Minneapolis Police Department.
His record of policing included both commendations and conduct complaints.
There were at least 15 conduct complaints against him, the Star Tribune reported, citing records from the Minneapolis Police Department's Internal Affairs. Most of the complaints were closed without discipline.
Mr Chauvin's personal files were heavily redacted, but there are details of one complaint from 2007. The complaint concerns allegations Mr Chauvin pulled a woman from her car and frisked her after she was caught driving 10mph over the speed limit.
A report found Mr Chauvin did not record audio of the incident and failed to switch his dashcam on during the stop.