It happened just after 7 p.m. Monday at the intersection of Rosewood Avenue and N. Ferndale Drive.
Authorities said when they arrived at the scene, they found 21-year-old Antoine Barnes in the street suffering from a gunshot wound to the shoulder. As of Tuesday morning, he was listed in critical condition at a local hospital.
Barnes was reportedly riding his bicycle to his house on Rosewood Avenue when he was shot.
Witnesses said the shot was fired from what appeared to be a gold, newer model Toyota Corolla with a man and woman inside.
Authorities are currently investigating the incident. Further details have not been released at this time.
Anyone with information about the shooting is asked to contact the Rocky Mount Police Department at (252) 972-1411 or Captain Laura Fahnestock at (252) 972-1681 or Laura.Fahnestock@rockymountnc.gov.