A federal judge has ordered Immigration and Customs Enforcement to release one of the men detained after ICE agents shot and killed a driver in Houston's Magnolia Park neighborhood.

Jose Trinidad Rojas Pliego was a passenger in the vehicle driven by Lorenzo Salgado Araujo during the deadly July 7 encounter.

In a five-page order signed Monday, U.S. District Judge Keith Ellison granted Pliego's petition for a writ of habeas corpus and denied the federal government's request for summary judgment.