The 32-year-old former NFL player was shot in the parking lot of Legends Bar and Restaurant, according to authorities.
Officials have ruled his death a homicide and are currently investigating.
Dennard played as a cornerback for the Green Bay Packers, New York Giants and Jacksonville Jaguars during his time in the NFL. JACKSONVILLE, FL - AUGUST 30: Antonio Dennard #16 of the Jacksonville Jaguars in action during a preseason game against the Atlanta Falcons at EverBank Field on August 30, 2012 in Jacksonville, Florida.
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