Quinn had faced charges from a Labor Day incident with his then-girlfriend, the mother of his infant daughter.
The trial had been set for this month, but Quinn was cleared of the charges by the Arapahoe County District Attorney's office.
"We're happy the district attorney saw there wasn't enough evidence to go forward," Schaffer said, according to the Colorado Springs Gazette.com. "We hope this completely clears Richard's name. He's as solid a character person as there is, and we're moving on."
The woman told deputies that Quinn, her live-in boyfriend, grabbed and shook her to the ground during an argument and grabbed the phone from her while she was trying to dial 911.
Deputies said Quinn told them he grabbed the woman only after she started hitting him in the face.
Schaffer said his client never struck his girlfriend, whom he said was distraught. He said Quinn "went and locked himself and their 1-year-old daughter in the bedroom to get away from her," doing what he could to defuse the confrontation, just as he was taught at the NFL rookie symposiums this offseason.
Information from The Associated Press was used in this report.