McDaniels, one of the founding members of the pioneering rap group Run-DMC, said the shooting is not a "hip-hop problem" and that Bratton's statement was unfair to rappers like LL Cool J, De La Soul, J. Cole and many others.
"He needs to apologize to all the rappers who have come from [the] streets but have never put out anything negative [and] disrespectful to break down ... and destroy their community," McDaniels, 51, told The Associated Press on Friday.
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"[Bratton] was upset and pointing a finger and getting to the root and not thinking about the people he would hurt by saying what he said," McDaniels continued. "Him as the commissioner saying it did so much damage [and] pushes hip-hop back -- that's why he should apologize."
A request for comment from Bratton was not immediately returned.
Police are investigating the deadly shooting at Irving Plaza, where one person died. Rapper Roland Collins, whose stage name is Troy Ave, will face attempted murder and weapons charges. He was also shot in the leg. Ronald McPhatter, who died, was a member of Collins' entourage and had been there to provide security, according to his family.
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In an interview with WCBS radio, Bratton said rap music "oftentimes celebrates violence, celebrates degradation of women, celebrates the drug culture."
"It's unfortunate that as they get fame and fortune that some of them are just not able to get out of the life, if you will," he said.
McDaniels said his words are "totally, totally, totally unacceptable and false."
"There's a million rappers who come from the hood who do not portray, promote or produce products that celebrate or legitimizes any forms of negativity," he said. "The commissioner, he knew better than that. I respect his job, I know it's hard and all of that, but he should have known better."
Mayor Bill de Blasio has said he thought Bratton was "talking out of frustration."