"The state has failed to establish that the accused is guilty beyond reasonable doubt on this count and has to be acquitted," Judge Thokozile Masipa said in Pretoria High Court.
The state alleges that Sep 30, 2012, Pistorius allegedly shot through the open sunroof of a car with his 9 mm pistol while driving with his friend Darren Fresco and his ex-girlfriend Samantha Taylor in Modderfontein, the Independent Online reported.
The court declared Pistorius guilty of culpable homicide
Pistorius also faces two other charges of contravening the Firearms Control Act - one of illegal possession of ammunition and the other of discharging a firearm in public. He allegedly fired a shot from a Glock pistol under a table at a Johannesburg restaurant in Jan 2013.
Pistorius is accused of murdering his girlfriend Reeva Steenkamp in his Pretoria townhouse on Valentine's Day last year.
He shot her through the locked door of his toilet, apparently thinking she was an intruder about to emerge and attack him. She was hit in the hip, arm, and head.