While one brother always lies, the other brother (in the question as currently written) does not necessarily always speak the truth.
From here on, I will refer to the brother who always lies as "Knave" (as is traditional), and the brother who may sometimes lie as "Joker". (Because, he's not a "Knight")
This gives us 4 possibilities for asking both brothers if they are the killer:
Like so:
│Killer│Answer K│Answer J│J Lying?
├──────┼────────┼────────┤
│ Joker│ Yes │ →Yes← │(Truth)
│ Joker│ Yes │ → No← │ (Lie)
│ Knave│ → No← │ Yes │ (Lie)
│ Knave│ → No← │ No │(Truth)
(Arrows indicate an answer given by someone who is the Killer in that scenario)
Now, since the Judge doesn't know who the killer is yet, we know
That both answers are the same — otherwise, the killer is the person who said "No".
We also know that if both answers are "Yes", then the Joker is the killer; but if both answers are "No" then the Knave did it.
As a bonus, it tells us that the Joker told the Truth… this time.
Next, the Judge asks one person "does the killer always lie", which gives 6 possibilities
Like so:
│Killer│Previous│Answer K│Answer J│J Lying?
├──────┼────────┼────────┼────────┤
│ Joker│ Yes │ Yes │ │
│ Joker│ Yes │ │ →Yes← │ (Lie)
│ Joker│ Yes │ │ → No← │(Truth)
│ Knave│ No │ → No← │ │
│ Knave│ No │ │ Yes │(Truth)
│ Knave│ No │ │ No │ (Lie)
As you can see, the only way that an answer of "No" tells the Judge who the killer is would be
if they both answered "Yes" to the earlier question.
By contrast: if they both answered "Yes", and the third answer was also "Yes" — or if all three answers were "No" — then the person who answers is lying… but the Judge doesn't know if they always lie, or just sometimes lie.
Which means that
The Killer is the Joker — who told the truth both times — and is also the brother of whom the Judge asked the third question.
And, since the Killer is the Joker (not the Knave) this means that the Killer does not always lie.
If the Joker had lied on the third question, or the Judge had asked the Knave instead of asking the Joker, then it would have been impossible for the Judge to tell who the killer was — because the first two questions having the same answer tells you if the Knave or the Joker is the killer, but does not tell you which brother is the Knave or the Joker.