Protesters have gathered outside the home of the governor of Minnesota in the middle of the night to protest against the fatal shooting by police of 32-year-old Philando Castile.

Castile was shot in the Falcon Heights area of the city on 6 July following a traffic stop, and his girlfriend Lavish Reynolds live-streamed the aftermath of the shooting as police approached the vehicle as her boyfriend was bleeding.

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Around 200 people demonstrated outside Governor Mark Dayton's home in St.Paul, protesting the incident, the second fatal shooting by police in a 48-hour period following the death of Alton Sterling in Louisiana.

The protesters were outside the governor's house around 3.30am local time and chanted: ""No justice, no sleep" and "Mark Dayton, do you care?"

It was not known if Governor Dayton had been at home during the protests – in which cars blared out music to keep him awake – but it was rumoured he had been spirited away from the building.

Footage of the aftermath of the fatal shooting of Castille went viral after it was live-streamed by Reynolds, and prompted outrage from US citizens and groups including Black Lives Matter.

Philando Castile
Philando Castile was shot and killed by a police officer after being asked for ID Philando Castile/Facebook

Reynolds said she and Castille had been pulled over due to a broken tail light and that Castille had a licence to carry and had told the police officer he had a firearm. She said on the footage he had been shot after reaching for his wallet and ID.

The 32-year-old worked as a cafeteria supervisor at a school, and parents of students have come forward to express their shock at the incident.

One parent wrote on Facebook: "My borderline autistic son hugged him every day.... This was a good man."

The victim's mother Valerie Castile told Minneapolis Star Tribune: ""They killed my son. They took a good man, a hard-working man; he worked since he was 18-years-old."