Mubarak’s former interior minister Habib al-Adly and six other officials also had charges against them dismissed, while the former leader was also cleared of corruption charges related to gas exports to Israel by the court, along with his two sons Alaa and Gamal.
The judges decision was met with cheers from a packed courtroom of supporters.
Mubarak and al-Adly were convicted of conspiracy to kill in 2012 and sentenced to life in prison however a retrial was ordered last year and the new trial began in May 2013.
The 86-year-old is currently serving a three year sentence after being found guilty of embezzlement in a separate case earlier this year. He is serving the sentence under house arrest at a Cairo army hospital for medical reasons and has been wheeled into court on a stretcher.
Mubarak had served as Egypt’s leader for 30 years before being deposed during the revolution in 2011 when nearly 900 protesters were killed in the 18-day uprising.
Al Jazeera political analyst Marwan Bishara called the verdict "stunning" and an "arrogant attempt to make the Egyptian people feel sorry for coming out to the streets."