Two decades of research have documented a robust racial bias in the perceptual identification of weapons and the decision to shoot in laboratory simulations. In this chapter, we review the advances that have been made in understanding the causes, correlates, and psychological processes contributing to race biases in threat perception across different experimental paradigms. We begin by offering a psychological definition of bias, and considering how it may differ from folk concepts of bias. We discuss the contributions of this work to the broader field of implicit attitudes research. Most implicit bias research uses experimental tasks as measures of underlying attitudes. In contrast, research on racial bias in threat perception has focused on biased behaviors rather than attitudes. As a result, progress has been made in understanding not only automatic threat reactions but also the cognitive control processes that moderate the expression of automatic reactions in overt behavior. This literature has helped integrate research on implicit bias with research on executive control in cognitive psychology and cognitive neuroscience. Moreover, this research has served as a test bed for developing quantitative models of social biases, including the use of signal detection theory, multinomial models, and diffusion models. We discuss the relationships among these different classes of models, and what each can contribute to understanding biased threat detection. We consider the complexities in linking findings from well-controlled laboratory experiments to field studies on actual police use of force. We end by considering questions about the rationality of racial biases, and argue that the rationality of a behavior cannot be understood as an empirical question apart from normative judgments of the behavior.