Denver prosecutors last week charged two men with murder in connection with a brazen mid-afternoon quadruple shooting last month that left two Aurora men dead.

Marquise Davis, 23 and Denzel Richardson, 20, are each charged with first-degree murder, attempted murder, first-degree assault, second-degree assault and conspiracy to commit murder.

The Denver District Attorney’s Office formally charged the pair June 7.

The charges stem from the May 25 shooting at Bruce Randolph Avenue and York Street that left two men dead and two others injured. The shooters then fled on foot.

According to the Denver Medical examiner, one of the men killed, Deon Rudd, 30, lived in Aurora. The medical examiner didn’t release a hometown for the other man killed, Justin O’Donnell, 21.

Davis and Richardson were arrested a few days later in Aurora. Aurora police assisted with both arrests, but it wasn’t immediately clear if the two men lived in Aurora.

Prosecutors say Richardson and Davis went to the intersection around 2 p.m. that day and opened fire into a group of people standing on the sidewalk.

Lynn Kimbrough, a spokeswoman for the Denver DA’s office, said files in the Davis and Richardson cases are sealed.

Both men are due in court Aug. 23 for preliminary hearings, at which a judge is expected to rule whether prosecutors have enough evidence for the pair to stand trial.

The two men have lengthy criminal records, according to the Colorado Bureau of Investigation.

Davis has been arrested in Aurora on theft charges and later served prison time on drug charges, according to records. He was later arrested multiple times on parole violations, weapons charges and menacing charges.

His arrest on murder charges marked his third of 2012, following a February arrest in Denver on trespassing charges and an April arrest there on drug charges.

Richardson has been arrested on assault, weapons and parole violations charges, among others.

He was arrested along with Davis in February in the trespassing case.