Sheriff Scott Israel criticized Peterson, assigned as a school resource officer, just over a week after the shooting, contending Peterson should have gone "in, addressed the killer, killed the killer".
After multiple media organizations, including the USA TODAY Network, petitioned for the release of the video, a Florida judge earlier this week ordered that it be made public.
After speaking into his radio, Mr Peterson can be seen making his way to the building where students were being murdered in a golf cart.
The Broward County Sheriff's Office and county School Board had resisted the video release, saying it was exempt from disclosure in part because it was evidence in an active investigation. His actions were enough to warrant an internal affairs investigation, as requested by Sheriff Israel on February 21.
Peterson, who has denied wrongdoing, retired shortly after the shooting rather than accept a suspension.
More than 10 minutes later, other officers appear to reach Peterson's position. Peterson's behaviour during and after the gunfire have become the focus of intense scrutiny, with Broward County Sheriff Scott Israel assailing him for not rushing inside to confront the gunman. Authorities sought to argue that releasing the videos would hurt the ongoing investigation, while school officials said releasing the footage could reveal vulnerabilities in the security system.
Such protocols are near-universal among USA law enforcement agencies.
The clips only show the police response outside, not the horror that occurred within.
Israel said Peterson "never went in" to building 12 while Cruz used an AR-15 rifle to kill 14 students and three teachers during the February 14 mass shooting. Coral Police officers entered the building when they arrived, and the deputies then joined them. The Broward sheriff's office serves as the police department for Parkland.
Broward County Judge Jeffrey Levenson ruled Monday that the BSO had to release the video within 24 hours of Thursday's noon deadline to appeal.
Nikolas Cruz, a former student at the school, was indicted as the killer on 17 counts of premeditated murder, and 17 counts of attempted murder.
"At any time Mr. Cruz is willing to enter a plea of guilty in exchange for a waiver of the death sentence", said Defense attorney Melisa McNeill.
But that mishap "never put us in a situation where any kids' lives were in danger, any teachers' lives were in danger", said Coral Springs police Chief Tony Pustizzi, whose officers responded to the scene.
They also were operating on delayed information.
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