He was taken immediately to jail. Both the prosecution and defence can appeal.
Pistorius, 29, shot Reeva Steenkamp four times through a locked toilet door in February 2013.
He admitted shooting her, but said he mistook Ms Steenkamp for an intruder and acted out of fear.
In an hour-long session, Judge Thokozile Masipa said mitigating circumstances, such as rehabilitation and remorse, outweighed aggravating factors for deviating from the prescribed 15-year sentence for murder.
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