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"I would like to be able to change something, I can not go back in time," Zeigler said, the channel reported.
Zeigler was sentenced to two to ten years in prison for assault with intent to cause serious bodily harm and two years in possession of a firearm while committing a crime.
A jury from Oakland County sentenced Zeigler last month.
On April 12, Brennan was driving alone to school after missing the bus. The teenager said that he had traveled four miles to Rochester High School in Rochester Hills, about 20 miles north of Detroit, but had been lost and had knocked on several doors , especially at Zeigler's home.
A video of the shootout showing home security showed Zeigler shooting at Brennan who had escaped from the Michigan man's door. Brennan was not hurt.
Zeigler was planning to scare the teenager, but the gun exploded, said his lawyer, Robert Morad, to CNN, during an interview. At the trial, Zeigler stated that he had stumbled and that the shotgun had been accidentally extinguished, according to WDIV.
"This is a terrible case for everyone involved and my client wants to be able to go back in time and change what happened, but he can not," said Morad. "He is obviously very sorry for what happened."
Zeigler has been a firefighter in Detroit for 24 years, according to Morad. He left the fire department in 2013 after reaching the rank of lieutenant because of disabilities caused by injuries sustained at work.
Brennan's mother stated that she thought there was a racial component in the case, according to WDIV. Zeigler is white.
"I've tried to avoid running, but we all know it's … what it was," said Lisa Wright on Tuesday, according to WDIV.
She added: "If there was a button on which I could press so that I could choose what color I could be – just to not have to deal with that stuff – I should be of your color .. so that I can survive, "she told reporters.
Evan Simko-Bednarski, CNN, contributed to this report.
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