An investigation into the police shooting of two bank robbers has concluded they were killed lawfully, despite suggestions that an early arrest could have prevented their deaths.

None of the police officers involved in the shooting of Mark Nunes, 35, and Andrew Markland, 36, in 2007 will face criminal charges or sanctions for professional misconduct, according to a report published by The Independent Police Complaints Commission (IPCC).

Following the killings, an IPCC report found "no evidence to support criminal or misconduct outcomes for Metropolitan Police officers or staff".

However, in relation to Nunes’ death, investigators "identified a brief window of opportunity for an arrest to be made prior to the shooting".

The ruling follows an inquest into the deaths at Winchester Coroner’s Court, in which the jury returned two verdicts of lawful killing on Tuesday.

Nunes and Markland were shot by police marksmen as they tried to hold up a G4S cash van in Chandler's Ford, Hampshire, outside a HSBC bank on September 13, 2007.

The pair had previously carried out more than 20 similar raids across southern England. Officers had been tracking them for a year when they received intelligence about the planned raid in Hampshire.

Nunes of New Park Road, Streatham, was shot as he held the gun to the head of the guard and Markland, of Morland Road, Brixton, was shot when he ran over and "appeared" to pick the gun up, the inquest heard.

The Commission ruled that if Nunes had been arrested in his car as he waited for the security guard to exit the van, "the safety of the public, police and both Mr Nunes and Mr Markland could have been achieved".

The report’s authors also raised concerns about the ammunition used during the incident, after police fired a bullet which passed through Markland and struck a nearby parked car with a passenger inside.

Both the coroner’s findings and the IPCC’s recommendations will now be reviewed by the Metropolitan Police.

IPCC Commissioner for London Deborah Glass said: "This was a particularly harrowing incident for all those involved.

"Our report concluded, as did the jury, that the officers' actions were lawful.

"But while I have no doubt that the intention of the operation was to arrest the suspects and bring them to justice in a court of law, this did not happen.

"Two people died and members of the public were put at risk."