Oscar Pistorius has been found not guilty of firing a gun through a vehicle sunroof after an altercation with a police officer.

Clearing Pistorius of charges relating to the incident, which happened in 2010, Judge Thokozile Masipa said witness accounts from two former friends of the Paralympian were contradictory.

Masipa said: "This court does not have to believe the accused version. He bears no onus to prove his innocence. The state witnesses contradict each other on the circumstances of the shot being fired and when and where the shot was fired.

"The evidence falls short. The state has failed to establish the accused is guilty and he has to be acquitted."

The charge related to an incident when Pistorius was allegedly involved in a spat with a police officer, who had pulled over their vehicle for speeding. The court heard the runner blasted a shot through the sunroof soon afterwards because he was angry at how the officer had behaved.

But judge Masipa said witness accounts from former friend Darren Fresco and the runner's ex-girlfriend Samantha Taylor were "so dissimilar that they look like different incidents."

Fresco was very sharply criticised by the judge as "a dishonest witness" over the charge. She pointed to contradictions in his account of who was driving and how fast they were speeding in the vehicle, saying his evidence changed over time.

More to follow.