General District Court Judge Edwin Burnette issued the ruling Friday after a 2-hour bench trial. Cook was accused of a misdemeanor count of brandishing a firearm.
Court records show the neighbor, Omar D. Goode, accused Cook of brandishing a .40-caliber, chrome-plated handgun on March 12 near the home of Cook's mother in Lynchburg.
The prosecutor, Robert Dean, said several witnesses agreed an argument occurred between the two men, but Cook denied pulling a gun.
Dean said the judge concluded there was insufficient evidence to find Cook guilty of the accusation.
The verdict was first reported by the News & Advance of Lynchburg.