Cops said that one man was shot and taken to hospital with non-life-threatening injuries after the incident occurred.
Velasquez, 39, is accused of shooting the alleged victim Paul Bender twice in the arm earlier this year while chasing him and his stepson Harry Goularte in a truck.
He faces a minimum of 20 years and up to life in prison if he is found guilty.
Nurmagomedov, who is a long-time friend and teammate of Velasquez, said that while some might disagree, he felt his actions were justified for taking matters into his own hands.
Nurmagomedov told TMZ: “Anybody in the world who respects himself, who loves his family is going to do same thing, exactly.
“Come on, nobody is going to think of law or something when you have something about your family. You have to protect your family. If animals protect their family, of course, humans are going to protect their family.
“They talk about law court about jail, but I don’t understand these things. This is not fair. He sit in jail and other guy is outside.
“What about other guy? Put this guy in jail too. He’s more dangerous for people than Cain Velasquez.”
Nurmagomedov, 33, has long been a training partner and close friend of Velasquez’s and has leapt to the defence of his old teammate.
The pair have trained together for over 10 years, winning two UFC championships between them during their careers, with Nurmagomedov’s former trainer Javier Mendez serving as their head coach and mentor.
He added: “Never in his life, and he’s 40 years old, never in his life he had problem in social, outside with people, in gym.
“He’s the most respectful guy I’ve ever seen in my life. I trained with him for more than 10 years. I know his family.
“Everybody loves Cain. This is his kids. I don’t understand.
“Okay put him in jail, but what about other guy? He’s more dangerous than Cain. Cain is dangerous for only one guy, but this guy is dangerous for everybody. I don’t understand this.”