Kate and Gerry McCann were said to be "relieved" but not celebrating after being formally cleared of involvement in their daughter Madeleine's disappearance.
After 14 months and an exhaustive investigation, Portuguese prosecutors announced they had no evidence that the three suspects in the case committed any crimes.
As a result they shelved the case and lifted the "arguido", or formal suspect, status of the McCanns and Algarve resident Robert Murat.
The inquiry can be re-opened if credible new evidence comes to light, Portuguese attorney-general Fernando Jose Pinto Monteiro's office said.
McCann family spokesman Clarence Mitchell said: "There is a degree of relief but no air of celebration whatsoever.
"They should never have been arguidos. The fact that they have emerged from this without being charged proves that."
He added that their treatment as suspects had been a "distraction" from the main task of finding Madeleine.
"All of this has damaged their good reputations and they will have to assess where they go from here," he said.
"The only thing they care about is finding Madeleine. We hope that the Portuguese authorities will continue to cooperate with their private investigation."
Mr and Mrs McCann, both 40, from Rothley, Leicestershire, are due to make a statement on the attorney-general's announcement.
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