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
New Liverpool manager Jurgen Klopp has branded himself 'the normal one' in his first press conference
Jurgen Klopp has officially been unveiled as the new Liverpool FC manager this morning.
The complications British nurse Pauline Cafferkey is suffering could be due to the Ebola virus 'reactivating', an expert says.