The Jefferson City Police Department surrounded a home in the 1300 block of Monroe and had everyone exit the residence.
A woman from the home told officers 32-year-old Angelo Cockrell had threatened to assault and kill her as she and her 2-and-a-half-year-old were laying in their bed. Cockrell then shot a handgun at the floor within four feet of them. Police said he then hid the firearm in another room and left the residence.
The woman has an order of protection against Cockrell which she filed in 2008.
Cockrell admitted to discharging the firearm and threatening to assault the woman.
He was arrested and charged with second degree domestic assault, armed criminal action, first degree endangering the welfare of a child and violating an order of protection.