At about 10:50 a.m., a resident reported seeing the tusked mammal walking in the street in the area of Grandview Boulevard and Golden Gate Avenue.
Responding officers found the boar in a field, according to O'Keefe, who said the incident was "very unusual."
He said officers attempted to corral and detain the animal, but were unsuccessful. Because the boar posed a safety hazard to residents, officers used a high-powered rifle to shoot and kill it, O'Keefe said.
The Peninsula Humane Society and the state Department of Fish and Game were notified of the incident.
Residents of the neighborhood and administrators at Half Moon Bay High School were alerted of the wild boar via a telephone notification system and advised to avoid any contact with such an animal and instead call 911.
O'Keefe said police canvassed the area, since boars tend to run in packs.
"In my three years here, I haven't seen anything like that," O'Keefe said of the boar. "I don't think any of the officers who have been here for more than 20 years have come across this one before."