'He got towards my face right as I lost balance. I'm thinking, at this point, that if he goes into attack me, that I'll have to use deadly force to defend myself.'
Despite the tense confrontation, which could have quickly turned deadly, Kidder said he had to make sure his decision was correct.
'Law enforcement officers all across the nation have to deal with split-second decisions that mean life or death. I wanted to be absolutely sure before I used deadly force.'
After the clip surfaced, Richmond Police Chief Randy Harvey, led the response for the cop's actions.
'For him to make the judgment call that he did shows great restraint and maturity,' he said.
'This video footage, it eliminated all doubt that this officer would have been justified if in fact it came to a shooting.'
Kidder, who did two tours of duty in Iraq, also revealed that a member of his family gave him the body cam after Michael Brown was shot dead by Darren Wilson in Ferguson last August.
Harvey is now fundraising so all his cops can wear the devices.
Wilcox was being held on Saturday on a $2m bond.
Kidder's actions come in the midst of controversy and protests around the country over police officers shooting suspects dead.

Eventually the suspect surrendered and lay on the ground with his hands outstretched as backup arrived, allowing Kidder's partner to handcuff him