The demonstration began at the June 24 crime scene at 24th and Jessup streets, continued to a hospital and then moved down Delaware Avenue.
At one point, the group attempted to enter Interstate 95 during rush hour but was stopped by Delaware State Police. Protesters later gathered outside the home of Senator Christopher Coons and Attorney General Kathy Jennings.
"Nobody's child should suffer at the hands of a police officer," said Crystal Calhum of Dover.
RELATED | Body cam video released of deadly police shooting in Wilmington, Delaware
City officials have released a portion of police body camera footage showing the incident. Wilmington police said Skinner pointed a gun at a crowd before officers shot him and recovered his firearm. Skinner's family disputes that account, saying he was unarmed and running away from a dog.
Organizer Mahkieb Booker said, "I do believe the officer acted with excessive force," and later added, "I want the police officer charged. I want the police officer convicted."
Police said the officer involved has been placed on administrative leave.
Protesters also chanted outside the home of AG Jennings.
Calhum said, "Everybody is just out here asking she do the right thing and also look into the Wilmington Police Department."
In a statement, Delaware Department of Justice spokesman Mat Marshall said, "The AG has met with the Skinner family, has walked the neighborhood where he lived, and has ensured that the community's request for body cam footage was honored. Our job now is to complete a full, thorough, and uncompromising investigation."
Michael Bartley, a relative of Skinner, said, "In this community, we care about our people. We're just letting them know it's not going to be 5-6 people out here complaining. You see these babies out here, we gotta make it better for their future."
The Skinner family has filed a wrongful death lawsuit against the city seeking $25 million.
A request for comment from Sen. Coons is pending.