Hillsborough match commander David Duckenfield has been cleared of the gross negligence manslaughter of 95 Liverpool fans in the 1989 football disaster.

The jury of seven women and three men reached their verdict by a majority of nine to one following 13 hours and 43 minutes of deliberation after the trial at Preston Crown Court. They had heard more than six weeks of evidence in the case.

A previous trial earlier this year ended with a hung jury as members were unable to reach a conclusion.

Family members sobbed in court as they waited for the verdict. There were cries of “oh my God” as the not guilty decision was returned, and some ran out of court.

Duckenfield, wearing a dark suit and blue jumper, remained impassive as the verdict was read out.

Speaking at a press conference at the Cunard Building in Liverpool, Margaret Aspinall, whose 18-year-old son James died in the disaster, said: “The families know who is guilty.

“Our city knows who is guilty. He can walk around now and get on with his life with a not guilty verdict.

“To me that is a disgrace.”

John Traynor, whose brothers Christopher, 26, and Kevin, 16, died at Hillsborough, said: “The family members that you see here today are still suffering from post-traumatic stress disorder, broken hearts and minds and today’s decision has just devastated all of us, just adding further insult to injury.”

Retired chief superintendent Duckenfield, 75, had denied the gross negligence manslaughter of 95 Liverpool fans who died in the disaster at the FA Cup semi-final on April 15, 1989.

Duckenfield, who was promoted to the role less than three weeks before the disaster, gave the order to open exit gates to the ground after crowds built up outside.

More than 2,000 fans entered the ground after the gate was opened, with many making their way down the tunnel to the central pens of the terrace, where the fatal crush happened.

Ninety-six men, women and children ultimately died as a result of the fatal crush on the Leppings Lane terrace at the match between Liverpool and Nottingham Forest.

Under the law at the time, there can be no prosecution for the 96th victim, Tony Bland, as he died more than a year and a day after the disaster.

Christine Burke, the daughter of Henry Burke – who was killed in the Hillsborough tragedy – stood up in the public gallery and implored the judge.

She said: “With all due respect, my lord, 96 people were found unlawfully killed to a criminal standard.”

Breaking down in tears, she added: “I would like to know who is responsible for my father’s death, because someone is.”

The judge thanked the jury as he discharged them for the part they played in the administration of justice. One of the members of the jury walked out in tears as they left the courtroom.

David Duckenfield drank from a glass of water as the verdict came in and his wife Ann later comforted him in the courtroom.

Speaking outside Preston Crown Court, Louise Brookes – sister of Andrew Brookes, who was killed at the disaster – told the gathered media: “Ninety-six people were unlawfully killed – somebody has to be found responsible.”

She added she was incredibly proud of the families who had behaved with such dignity and were the reason for some of the evidence being brought to light.

Burke said: “Ninety-six people did not come home alive and they did absolutely nothing wrong. We feel we have been robbed of justice.”

The case was the conclusion of Operation Resolve, a criminal inquiry into the Hillsborough deaths commissioned by then home secretary Theresa May.

The officer in overall command of Operation Resolve, assistant commissioner Rob Beckley, said his thoughts were with the victims of Hillsborough, and that “lessons must be learnt” – though he accepted this was a cliche.

“What is wrong is that it has taken 30 years to get to this point,” he added.

“The passage of 30 years has presented challenges for everyone involved in the legal process, prosecution and defence. Thirty years means evidence has been corroded and some people and organisations cannot answer for their actions because they are no longer with us.

“Thirty years means myths took root about fans being a cause of the disaster, now unequivocally shown by both defence and prosecution evidence to be wrong.

“And 30 years means many people, especially families, have had to constantly relive their terrible experience.”

Duckenfield’s solicitor Ian Lewis said the retired police chief was “relieved” that the jury had cleared him, but that his thoughts and sympathies remained with the families of those who had lost their loved ones.