More than half a century after the assassination of Malcolm X, two of his convicted killers were exonerated Thursday after decades of doubt about who was responsible for the civil rights icon’s death.

A Manhattan judge dismissed the convictions of Muhammad Aziz and the late Khalil Islam, after prosecutors and the men’s lawyers said a renewed investigation found new evidence that the men were not involved with the killing and determined that authorities withheld some of what they knew.

“The events that has brought us to court today should never have occurred,” Aziz, 83, told the court.

He and Islam, who maintained their innocence from the start in the 1965 killing at Harlem’s Audubon Ballroom, were paroled in the 1980s. Islam died in 2009.

Malcolm X gained national prominence as the voice of the Nation of Islam, exhorting Black people to claim their civil rights “by any means necessary.” His autobiography, written with Alex Haley, remains a classic work of modern American literature.

Muhammad Aziz, now 83, and the late Khalil Islam were convicted in 1966, after a trial in which authorities withheld evidence favorable to the defense, said their attorneys, the Innocence Project and civil rights lawyer David Shanies.

Manhattan District Attorney Cyrus Vance Jr.’s office is expected to join the men’s attorneys Thursday in asking a judge to toss out the convictions.

Malcolm X was killed on Feb. 21, 1965, at the Audubon Ballroom in Harlem, as he was beginning a speech.

Aziz, Islam and a third man, Mujahid Abdul Halim — also known as Talmadge Hayer and Thomas Hagan — were convicted of murder in March 1966 and sentenced to life in prison.

Hagan said he was one of three gunmen who shot Malcolm X, but he testified that neither Aziz nor Islam was involved. The two always said they were innocent and offered alibis. No physical evidence linked them to the crime.

Malcolm X gained national prominence as the voice of the Nation of Islam, speaking about the importance of Black people claiming their civil rights “by any means necessary” in his highly visible role with the Black Muslim organization.

But he later split with the group and, after a trip to Mecca, started speaking about the potential for racial unity. It earned him the ire of some in the Nation of Islam, who saw him as a traitor.

Aziz was released in 1985. Islam was released two years later and died in 2009. Both continued to press to clear their names.