The decision to find Cox not guilty came after a jury deliberated for four hours on Thursday and just over two hours on Friday, according to the Denver Post.
Following the verdict, Cox wrote a message on Twitter: "The feeling i have right now can never b felt, cant b explained, the lord has his ways of work, glad i was able 2 b in the path of that!!"
Cox, who was released by the Broncos before the 2011 season began, was facing two years to life in prison if he was convicted. He was arrested in September 2010 for allegedly sexually assaulting a woman at his apartment. That woman involved became pregnant and Cox's DNA was reportedly found in the fetal tissue.