According to reports, two gunmen shot at Zafeiropoulos at point blank range late on Thursday evening.
Police have launched a manhunt for the arrest of the gunmen who fled.
52-year-old Zafiropoulos specialized in financial crime, and in 2010, he was a candidate for the head of the Athens Bar Association.
His father; Epaminondas Zafeiropoulos, was a former New Democracy MP and his brother Gregoris Zafeiropoulos is the former mayor of Halandri, northern Athens.
Leader of New Democracy Kyriakos Mitsotakis expressed his shock of the murder, through twitter.
“I express my dismay at the brutal murder of M. Zafeiropoulos. An excellent lawyer, a distinguished member of the New Democracy & very good friend”, Mitsotakis said.
Prime Minister Alexis Tsipras called for a prompt investigation into the killing in a call to Alternate Citizen Protection Minister Nikos Toskas.