Sgt Nightingale walked free from the cells at the Royal Courts of Justice.
Wiping away tears, he hugged his wife and father in the main hall of the building.
Lawyers for an SAS sniper from Cheshire are to challenge whether it's in the public interest to continue with a retrial.
Cheshire SAS sniper Sergeant Danny Nightingale, who was released from jail last week after winning a court appeal, has returned to work.
Released Cheshire SAS Sniper Danny Nightingale speaks exclusively about his release to ITV's Daybreak