"It's time to pass legislation that will give true meaning to our constitutional promise of legal protection under the law", Biden said.
Without offering specifics, he promised to "deal with institutional racism" and set up a police oversight body in his first 100 days in office, if elected.
"When peaceful protesters are dispersed by the order of the president from the doorstep of the people's house, the White House - using tear gas and flash grenades - in order to stage a photo op at a noble church, we can be forgiven for believing that the president is more interested in power than in principle", Biden said.
Biden also called for police reform, including a ban on police chokeholds, and he said that Congress should act this month.
Referring to the death of a black man in police custody which sparked nationwide protests, Biden said, "Hate just hides".
His remarks offered a striking contrast to Trump that came about 16 hours after peaceful protesters in a park outside the White House were hit with tear gas so that Trump could cross the park and visit St. John's Church for a photo opportunity - a move that the Episcopal bishop that oversees the church later condemned. "I'll do my job and I'll take responsibility - I won't blame others", Biden said.
President Trump's campaign responded swiftly to the speech, suggesting without any evidence that Biden is supportive of the destruction of property that has accompanied protests. Earlier, he wrote a post on Medium expressing empathy for those despairing about the police killing of George Floyd.
Obama's former vice president reiterated what he has long said on the 2020 campaign trail, that there is a "battle for the soul of America". "His narcissism has become more important than the nation's well-being that he leads", Biden said.
Smith beating up a protester for allegedly breaking his truck's window
According to TMZ , Smith parked his truck in a residential area, located near the Flight Club on Fairfax Ave. Floyd, a black man, died after white officer Derek Chauvin kneeled on his neck for several minutes.
Biden addressed the nation from the Mayor's Reception Room in Philadelphia City Hall, marking the first time Biden has traveled outside Wilmington, Del., since the coronavirus pandemic prompted stay-at-home orders across the country.
The city was also the birthplace of the U.S. Constitution, which Biden cited in support of the right to peacefully protest.
Biden also challenged Americans: "Look at where we are now and think anew: Is this who we are?"
Biden's standing with the black community weighs heavily as he works to deny Trump a second term. But they did not die with him. Cory Booker, singer John Legend, Rapper T.I., New York Times Pulitzer Prize-winning journalist Nikole Hannah-Jones, activist Tamika Mallory and NAACP president Derrick Johnson.
Biden, conversely, pledged he would "not traffic in fear or division" or "fan the flames of hate".
"I will seek to heal the racial wounds that have long plagued this country - not use them for political gain".
Biden, who served eight years as vice president under Barack Obama, the first black USA president, cast himself as the candidate who best understands the longstanding pain and grief in the country's black communities.
In a statement, Katrina Pierson, a senior advisor for Trump's campaign, said Biden's campaign "made it clear that they stand with the rioters, the people burning businesses in minority communities and causing mayhem, by donating to post bail for those arrested".