A US officer has been charged with murder after fatally shooting a Black woman in her home after she called 911 to report a suspected intruder in the US state of Illinois.

Sonya Massey, 36, was shot by Deputy Sean Grayson on July 6th. Body camera footage released on Monday shows a tense encounter between the officers and Massey, who according to her family's lawyer, had undergone treatment for mental health issues.

In the video, Grayson can be heard threatening to shoot Massey if she doesn't put down a pot of hot water. Massey then ducks behind a counter and apologizes before three shots are fired.

Grayson has been fired and indicted on charges of first-degree murder, aggravated battery with a firearm and official misconduct. He pleaded not guilty.

Massey's family lawyer, Ben Crump, said the shooting would "shock the conscience of America".

"She needed a helping hand. She did not need a bullet to her face," Crump said.

Massey's death is the latest incident of Black people killed by police in their homes in recent years.

President Joe Biden addressed Massey's death, saying it was a reminder "that all too often Black Americans face fears for their safety in ways many of the rest of us do not".

Biden called for Congress to pass the George Floyd Justice in Policing Act, a sweeping police reform package that has stalled in Congress. (ILKHA)