A judge has found a Chicago police detective not guilty of involuntary manslaughter in the shooting death of an unarmed woman.

Cook County Judge Dennis Porter, in a directed verdict Monday, ruled the state had failed to prove recklessness on the part of 46-year-old Officer Dante Servin in the March 2012 shooting death of 22-year-old Rekia Boyd. Porter also cleared Servin, who was off-duty, of reckless discharge of a firearm and reckless conduct.

Boyd died after one of the five bullets from Servin's unregistered Glock handgun pierced the left side of her head. Servin has maintained he fired only because he felt threatened when he confronted a group at a park about the noise they were making.

The city settled a lawsuit for $4.5 million with Boyd's family in 2013.