Mr Walker was accused of shooting a Louisville police officer during the flawed forced-entry raid.
Thinking officers were intruders, he fired one shot as they broke down the door.
Officers returned fire, riddling the apartment with bullets and killing his 26-year-old girlfriend in the process.
Jefferson County Circuit Court Judge Olu Stevens dismissed the charges yesterday “with prejudice,” meaning Mr Walker can’t be charged with the same offences related to the shooting, according to court documents.
CNN has reached out to Mr Walker’s attorney, Rob Eggert, for comment.
No officer who took part in the raid was charged for Ms Taylor’s actual killing.
Only one of the three officers – Brett Hankison – was charged in connection with the shooting.
A grand jury charged Mr Hankison in September with three counts of felony wanton endangerment for blindly firing 10 shots into Ms Taylor’s home.
Mr Hankison, who was fired on June 23, has pleaded not guilty.
In January, the Louisville Police Department fired two other officers — Myles Cosgrove and Joshua Jaynes – who were involved in the shooting at Ms Taylor’s home.