Video footage of the incident shows the five officers, all of whom were black, repeatedly kicking and punching Nichols. Three days later, Nichols died in hospital.
Attorneys representing the five officers, all of whom have been fired from the Memphis Police Department, appeared in a brief preliminary hearing. The police also deny accusations of other crimes in connection with the incident.
In addition to the five police officers, a sixth has been fired and other people, including three firefighters, have been suspended from their jobs.
The film showing the beating in connection with the police intervention has provoked strong reactions in the United States and led to widespread protests in several cities.