It shows the agent dancing for the crowd and after he does a backflip, the weapon falls out of the back of his waistband.
Additional charges could be filed based on the results of a blood-alcohol content test, which has not yet been received, authorities said. Bishop then put the gun back in his trousers and walked away with his hands up.
As he picks up the gun from the floor, it fires.
After the shooting, Bishop was taken to Denver police headquarters but was released to his Federal Bureau of Investigation supervisor.
Bishop turned himself in to the Denver Sheriff Department on Tuesday morning after a warrant was issued for his arrest, according to Denver police. "The FBI will continue to fully cooperate with the Denver Police Department and the Denver District Attorney's Office as this matter proceeds through the judicial process".
A former Federal Bureau of Investigation agent told 9NEWS that an agent who accidentally discharges a weapon will be automatically suspended for three days without pay.
Video from the June 3 incident shows Bishop landing a backflip at the Mile High Spirits bar, and reaching down to pick up the weapon that had fallen from his trousers. That bullet struck a man in the leg, leaving him with serious but non-life-threatening injuries.
Our reporting partner, 9News in Denver, said that multiple sources told them that Bishop works out of Washington D.C. and is a decorated former Army captain who served in Afghanistan.
"I originally thought, like, when I found out I got shot it was an altercation I got hit in the crossfire of, because civilian casualties like that, those happen".
In a statement posted on Facebook two days after the incident, Mile High Spirits bar said one of its "innocent patrons was shot" because of the agent's "misconduct".