Mings joined the peaceful march after Floyd was killed after a white police officer, since charged with his murder, held him down to the ground by pressing a knee on his neck for eight minutes and 46 seconds.
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The England centre-back wore a face mask throughout the event, which had the message ‘Won’t Be Silenced’ written across it.
Mings posted pictures of himself marching along with the message: “Nothing but energy and passion today. I make no apologies for standing up for what I believe in.”
West Midlands Police confirmed there were no incidents during the protest.
A statement read: “Around 4,000 people took part in a peaceful protest around Birmingham city centre today.
“The protesters were loud and passionate, and made their voices clearly heard. There were no arrests and no disorder.”
Mings is set to feature for Villa upon the return of the Premier League with the club’s game in hand against Sheffield United scheduled for 17 June.