It was over 40 years ago while the two were neighbors that Moxely was found bludgeoned to death with an axe in the exclusive Greenwich community.
The court voted 4-3 that Skakel's initial trial lawyer was so ineffective that his right to a fair trial was violated.
But in 2013 he was released while the court considered his latest appeal.
Following the court's decision, Skakel's lawyers released a brief statement.
“The decision by Judge Bishop is one of the great habeas decisions issued in the history of Connecticut jurisprudence,” the statement read.
Skakel has maintained his innocence since his first interview with police in 1975.
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