The jury returned its verdict Friday after hearing testimony from the now-19-year-old woman and Taylor.
Taylor gave a thumbs-up to a friend in the spectator area when the verdict was announced.
The former New York Giants linebacker acknowledged that he had sex in 2010 with a prostitute. He denied, however, that he ignored obvious signs she was a teen runaway in distress.
The woman had claimed that an abusive pimp forced her to have sex with Taylor for $300. She sued Taylor, seeking unspecified damages.
The encounter occurred in a hotel room in Montebello, just north of New York City.
Source: Associated PressLawrence Taylor Wins Case Over Hotel Sex With Teen by Sports Talk Florida