The scene inside the courtroom Wednesday as the jury read its verdict was emotional ... Rudolph was in tears -- as were his family members.

The 27-year-old, though, eventually cracked a huge smile and shared an embrace with his lawyer. Afterward, he and his attorney thanked the jurors, the judge, the court and all others involved in the case.

"It means everything, man," the former New York Giants receiver said to reporters. "I finally got my freedom back and I can get back to my life."

Added Rudolph's attorney added, "We knew he wasn't guilty. He's one of the nicest human beings you ever met whether he plays sports or not. This is an innocent man who did what he had to do."

Rudolph was initially hit with four charges -- including one count of first-degree murder with a firearm -- back in April 2021 ... after authorities alleged he opened fire on four people inside of a car in West Palm Beach, FL, killing one, following a dispute that Rudolph had had with a woman earlier.

Rudolph, however, had adamantly claimed he was only acting in self-defense.

"I knew all along," Rudolph said Wednesday outside of the courtroom, "I did what I had to do to protect me and my brother's life."

The case went to trial last week ... and the jurors reached their verdict Wednesday afternoon after only about four hours of deliberating.

Rudolph told reporters he now has plans to resume his football career ... saying he's open to competing in any league -- not just the NFL.

"I'm going to reach out to my agent," he said, "and if God's willing, I'll still be able to play football. Definitely planning on getting back to football."