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Nicky Jacobs, who was cleared of the murder of Pc Keith Blakelock, will consider suing the prison service for the "ridiculous" decision to make him spend an extra night in prison, his lawyer has said.
ITV London's Simon Harris tweeted:
Nicky Jacobs embraced his friends and supporters as he was released from Belmarsh prison today.
Jacobs, wearing a brown leather jacket, shook hands with his solicitor before greeting his friends just a day after he was cleared of murdering Pc Keith Blakelock in 1985.
He was subsequently driven away in a silver saloon car.
The 45-year-old's lawyer said his client was "relieved" to be free after his ordeal.
Nicky Jacobs has been freed from prison after he was cleared of the murder of Pc Keith Blakelock during the 1985 Tottenham riots.
The 45-year-old was driven from Belmarsh prison in south east London this morning after administrative processes delayed his release.
Speaking outside the prison, his lawyer Tony Meisels said his client was "relieved" to be free after the four-year ordeal.
"Questions need to be asked at the very highest levels of the Crown Prosecution Service and the police as to why this prosecution was ever brought," Mr Meisels added.
A man who was cleared of murdering PC Keith Blakelock in 1985 is expected to be released from prison today.
Nicky Jacobs' supporters said he was kept in Belmarsh jail last night as the administrative offices had closed.
He was found not guilty yesterday of stabbing PC Blakelock to death during the Tottenham riots nearly 30 years ago.
The officer was attacked by an armed mob after his unit was deployed to protect firefighters tackling a blaze on the Broadwater Farm estate in north London on the night of October 6 1985.
Mr Jacobs, who was 16 at the time, was the seventh person to be charged with the officer's murder but no-one has been brought to justice for the killing.
Friends and supporters of Nicky Jacobs, who was cleared of murdering PC Keith Blakelock, said the Crown Prosecution Service and Director of Public Prosecutions had questions to answer on why such a "farcical" case came to trial.
Stafford Scott, the co-ordinator of the Tottenham Rights group and one of Mr Jacobs' most vocal supporters, told reporters outside the Old Bailey, "It is not a day of joy. Everybody should be able to take the notion of receiving justice as standard."
Referring to the Blakelock family, Mr Scott added: "This must have been terrible for the family. They have been conned by the Metropolitan Police Service who said this would bring justice."
Winston Silcott, who was found guilty at the Old Bailey of murdering PC Blakelock in 1987 before his conviction was quashed in 1991, claimed the police had brought the case because they were "bitter about what happened".
The Crown Prosecution Service (CPS) has insisted "it was right" to bring a case against Nicky Jacobs over the murder of PC Keith Blakelock.
Jenny Hopkins, deputy chief crown prosecutor for CPS London, said: "This case was charged under the Full Code Test of the Code for Crown Prosecutors following a review of the material from all three police investigations spanning over 20 years.
"Following this review we concluded that there was sufficient evidence for a realistic prospect of conviction and it was in the public interest to charge Nicholas Jacobs with the murder of PC Keith Blakelock.
"It was right that all the evidence in this case was put before a jury and we respect their decision."
Sir Bernard Hogan-Howe paid tribute to the wife of Keith Blakelock today as he said efforts to find those responsible for the policeman's murder will not stop.
Jacobs, 45, was cleared of the murder of Pc Blakelock who died at Broadwater Farm in 1985 after suffering multiple stab wounds.
"The patience and determination that Keith's widow, Elizabeth, has shown over the years as she has pushed for answers about her husband's murder has been inspirational. She so richly deserves those answers and justice," the Metropolitan Police Commissioner said.
"We accept the decision of the jury and our work to bring those responsible for Keith's murder to justice will not stop. I would like to thank the investigation team for their dedication and hard work over a number of years."
The family of Pc Keith Blakelock said they were "extremely sad and disappointed at the verdict" following the acquittal of Nicky Jacobs.
A jury took just six hours to clear the 45-year-old of the murder of Mr Blakelock who was stabbed over 40 times in an attack at Broadwater Farm in 1985.
"We are obviously extremely sad and disappointed at the verdict. We viewed this trial as an opportunity to see some form of justice served for Keith," a statement on behalf of the family said.
"There were many people involved in a murder on that night of 6 October 1985 and it is regretful that no-one has yet to be found guilty despite the number of people with knowledge of the events of that night."
The family, who thanked everyone involved in ensuring the case was brought before a jury, said they hoped more people would come forward to bring those responsible to justice.
Nicky Jacobs punched the air after a jury cleared him of the murder of Pc Keith Blakelock.
He subsequently sat down and sobbed before being taken from the dock.
The 45-year-old's supporters in the public gallery including Winston Silcott - whose conviction for the murder of Pc Blakelock was quashed in 1991 - shouted "Yeah, yeah" and called out "Brother, brother" as the verdict was announced.
Courtenay Griffiths QC, for the defence, said: "I'm delighted, I think the jury reached exactly the right verdicts. Now I have to go and see my client."
Police have said they will not give up on finding those responsible for the death of Pc Keith Blakelock following the acquittal of Nicky Jacobs.
Describing his murder in 1985 as "barbaric", Assistant Metropolitan Police Commissioner Mark Rowley said: