The CPS said it had “concluded no charges should be brought against any officers” after examining evidence, reviewing “expert opinion” and taking into account police training.
Two police officers are still under investigation by the Independent Office for Police Conduct (IOPC) watchdog after GMP conducted its own inquiry.
One officer had been suspended but GMP Chief Constable Stephen Watson said he was now lifting that suspension.
He said he “welcomed” the CPS’s decision “to take no further criminal action against serving officers”.
“The IOPC’s misconduct investigation continues and we will continue to cooperate fully in this regard.”
He added: “I know that these matters have understandably generated a great deal of debate, scrutiny and speculation.”