Keith Roberts, a man wrongfully convicted of murder nearly 40 years ago, was exonerated on Thursday, marking the end of a long and painful battle for justice.

Roberts was sentenced to 18 years to life in prison for the 1986 murder of Pierre Sanon. At the time, the police investigation lasted less than 24 hours, and the prosecution relied heavily on a single eyewitness, whose credibility was later called into question.

After serving eight years of his sentence, Roberts was granted a new trial by an appeals court. However, just before the trial began, he pleaded guilty to a lesser charge to avoid the risk of returning to prison.

“Mr. Roberts has suffered, as most people with criminal convictions have suffered, and it has taken a serious toll on his life and that of his family,” said his attorney.

Roberts was ultimately exonerated following a reinvestigation by the Brooklyn District Attorney’s Crime Review Unit.

“Let’s be clear, this should have never happened," said DA Eric Gonzalez. "It was a travesty of justice. I am grateful that today, my office, many years later, has been able to give him back his good name."

While Roberts has been out of prison for three decades, he says he now feels truly free for the first time.