The charges stemmed from Douglas Kennedy's attempt in January to take his newborn son from a suburban New York maternity ward.
A Mount Kisco town judge issued his ruling Tuesday.
Two nurses said Kennedy hurt them as they tried to prevent him from leaving with 2-day-old Anthony Boru Kennedy. They said he was violating hospital policy.
Kennedy claimed he was just taking the baby outside for some fresh air.
The confrontation resulted in a series of alarms at the hospital, including a "code pink," which is used to signal a baby's abduction.
The defense alleged that the nurses were trying to set up a civil lawsuit and get money from Kennedy.
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