Police had earlier shot one suspect who darted out of woods and struggled with an officer.
Department of Public Safety spokesman Andy Skoogman says the second man surrendered in St. Paul and is in police custody.
The manhunt started after a Maplewood police officer was shot while responding to an early morning carjacking that turned into an ambush.
The officer's death set off a massive, hours-long manhunt with officers brandishing automatic rifles as police helicopters circled overhead.
