Goodson had been charged with second-degree depraved-heart murder, second-degree assault, involuntary manslaughter, manslaughter by vehicles (gross negligence), manslaughter by vehicles (criminal negligence), reckless endangerment and misconduct in office, according to The Baltimore Sun.
Goodson faced up to 30 years in prison.
Goodson, 46, faced the most serious charges in the 2015 death of Gray, who died after suffering a medical emergency while being transported in a police van. His death sparked riots across the city.
The prosecution argued that Gray was mishandled while in the police van and that Goodson failed to take actions, such as calling for medical help and buckling Gray into a seat, and that negligence contributed to his death.
But Williams did not accept any of the state's arguments, saying they were not backed by evidence. While Williams said Goodson may have used bad judgment, criminal charges require a higher standard of proof.
Goodson is the third of six officers charged in the case to receive a verdict. Officer William Porter's trial ended in a hung jury and a mistrial. Officer Edward Nero's trial ended in an acquittal.
Baltimore mayor Stephanie Rawlings-Blake released a statement after the verdict was read.
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