Sgt Danny Nightingale said outside court after being released: "Thank you to the world for being so kind".
His wife Sally said she was "very, very happy" and that she had "fought for this and got justice today".
More top news
James Shaw told of his struggle with the man who killed four people in Tennessee.
Cooler feeling into a new week
Swedish TV reported two post-mortems revealed nothing suspicious, and foul play has been ruled out in the performer’s death.