Nairobi Governor Evans Kidero and Women Representative Rachel Shebesh will not be charged with assault and creating disturbance respectively.
The High Court on Friday blocked Director of Public Prosecution Keriako Tobiko from pursuing charges against the two.
Justice Isaac Lenaola also ordered that they pursue reconciliation and report back to him within 13 days.
On Wednesday, the DPP wrote to CID boss Ndegwa Muhoro directing that the two be charged following a public altercation on September 6, 2013.
Ms Shebesh had filed a complaint at the Parliament police station claiming that Dr Kidero slapped her.
Dr Kidero also filed a report at the Central police station alleging that it was Ms Shebesh who first hit him in the groin.
He however later apologised to Ms Shebesh, terming his reaction ‘unfortunate’ and the incident ‘ugly’.