It said Zimmerman was on the phone with a 911 dispatcher on the night of Feb. 26, just minutes before the confrontation. The dispatcher told him not to chase after the teen.
"Zimmerman disregarded the police dispatcher and continued to follow Martin who was trying to return to his home," the document said. "Zimmerman confronted Martin and a struggle ensued."
That account contradicts what Zimmerman's family has said publicly. Zimmerman's brother and father have said Zimmerman was walking back to his vehicle when Martin came up from behind and attacked him.
The document also said Zimmerman shot Martin in the chest, and later admitted to police officers he was the one who did it.
Zimmerman was charged on Wednesday with second-degree murder after weeks of national debate over the case and whether he should have been arrested in the killing.
Here is video of Zimmerman's appearance in court on Thursday.