Police said officers responded to a residence on the street at about 9:33 p.m. Witnesses told police one man had a gun and fled in a gold Ford Explorer with two other men.
Police located the Explorer near Arby's restaurant on Danbury Road. After a brief investigation, police said they "were able to locate a small handgun in which one round had been discharged."
The three man arrested were: New Milford residents Brandon Bryer, 23, Michael Scaglione, 20 and Brookfield resident Vincent Guisto, 20.
Scaglione was charged with possession of a dangerous weapon, carrying a weapon in a motor vehicle and second-degree breach of peace.
Bryer was charged with unlawful discharge of a firearm, second-degree reckless endangerment, carrying a pistol without a permit, threatening, carrying a weapon in a motor vehicle, criminal possession of a firearm and second-degree breach of peace.
Guisto was charged with second-degree breach of peace, carrying a weapon in a motor vehicle and interfering with an officer.
All three were scheduled to appear in court today.