A Texas man who spent 34 years in prison after being wrongfully convicted of aggravated assault was exonerated Thursday by a Dallas County judge who ruled that he is actually innocent.

The judge approved a motion by the Dallas County District Attorney’s office to dismiss the case against Benjamin Spencer, 59, who was initially convicted in 1987 of murder in the carjacking and death of Jeffrey Young.

“This day has been a long time coming. I am relieved and humbled to help correct this injustice,” said Dallas County Criminal District Attorney John Creuzot.

Spencer, who has maintained his innocence, saw his 1987 conviction later overturned. He was then tried again and convicted and sentenced to life in prison for aggravated robbery of Young.