He was transported by ambulance to St. Francis Hospital and ultimately taken to the Milwaukee County Jail.
But Brown was never charged with a crime in connection with the incident.
The complaint names the City, Police Chief Alfonso Morales, Sergeants Sean Mahnke and Jeffrey Krueger, and Officers Joseph Grams, Bojan Samardzic, James Collins, Cristobal Martinez Avila, Erik Andrade and Jason Jensen as defendants.
Mark Thomsen, Brown's lawyer, writes in the complaint that his client was subjected to "unlawful, racially motivated and excessive force and detention."
"Mr. Brown had not committed any crime, and there was no reason to suspect that Mr. Brown was in the process of committing a crime, or that he would ever commit a crime," Thomsen said in the complaint.
At a news conference outside of City Hall Tuesday afternoon, Thomsen stressed that parking in a handicap spot is not a criminal offense.
The complaint also includes screenshots of Facebook posts allegedly made by Officer Erik Andrade following Brown's arrest.