Sandra Bland was arrested during a heated traffic stop captured on film. She was found dead three days later.
The 28-year-old's death and the video footage of her arrest sparked outrage.
The arresting officer, Brian Encinia, has been charged with allegedly lying about it, a prosecutor announced after a day of grand jury discussions.
Hours later, he was fired from his job.
The grand jury had picked out the officer's affidavit as behind their decision, said special prosecutor Shawn McDonald.
In that affidavit, Mr Encinia had claimed that Ms Bland was "combative and uncooperative" after he pulled her over.
The argument began after she was asked to put out her cigarette and he demanded she get out of her car.
Video footage showed the police officer drawing his stun gun and threatening Ms Bland with the words: "I will light you up!"
After the argument moved off-camera, she was heard screaming that he was about to break her wrists and she complained that her head knocked against the ground.
Mr McDonald said grand jurors found Mr Encinia's statement that he had "removed her from her vehicle to further conduct a safer traffic investigation" to be false.
Soon after the indictment, the Texas Department of Public Safety said "termination proceedings" would start immediately.
Ms Bland's death three days after her arrest was ruled a suicide and the sheriff's officials and jailers were cleared of any crime.
But it sparked national headlines for days amid a debate about the police use of force against African Americans.
The perjury charge carries a maximum sentence of one year in jail and a $4,000 fine.

Caerleon-born Machen, who died in 1947, is known for his story The Bowmen, set in World War One, which gave rise to the legend of the Angels of Mons.
Newport council is consulting on budget plans that could see the library shut.
A spokesman said it would relocate the reference library if the building shut but no decisions have been made.
The Friends of Arthur Machen literary society said its members, who include comedian Stewart Lee, actor Barry Humphries and writer Alan Moore, are writing to the local authority.
Friends' founding member Godrey Brangham said: "This obviously is of great concern regarding the Machen collection in the reference library."
Friends' chairman Ray Russell said: "Newport holds the finest public Machen collection in the UK.
"We'd like them to preserve it, develop it, and keep access to it open.
"Arthur Machen was a local son of Gwent who won worldwide literary fame, and it is hoped that Newport will continue to honour his work."
Arthur Machen 1863-1947
•Born 150 years ago in Caerleon, south Wales
•Fantasy and horror writer
•Works include early self-published book Eleusina, The Great God Pan and The Three Imposters
•Fans include Stephen King, Mick Jagger and Rowan Williams
•His portrait is in the National Museum Wales
More about the first modern horror writer
The leader of the council has met with the group, and a spokesman said: "If the proposal to close the central library building did go ahead then the council would consider where the best possible place to relocate the reference library would be."
The consultation on the council's budget savings proposals continues until 16 January 2015.

14 February 2017 Last updated at 08:20 GMT
It's part of a celebration of the re-opening of the Settle to Carlisle line in Cumbria which had to be closed after landslides damaged the railway line.
Tornado, the steam train pictured above, will run two return journeys a day between parts of Cumbria and Yorkshire from the 14 to the 16 of February.
The company which owns the trains think they will be pretty popular!
A Texas police officer has been charged with perjury over his confrontation with a woman who died in jail shortly after being arrested.
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Fans of horror writer Arthur Machen have called on Newport council to protect the collection of his books and papers at the city's central library.
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For the first time in more than 50 years a steam train will be running a regular service in England, but only for three days.