McBurnie claimed he jumped over the fan to protect his injured foot, but the court found him not guilty.
After the player's lawyer said he had been like a ballerina in avoiding contact, the player was acquitted of assault.
According to prosecutors, McBurnie was angry and in a red mist after United lost on penalties to Forest in the Sky Bet Championship play-offs.
The judge found McBurnie not guilty of a single charge of assault by beating and said his judgement was not influenced by social media.
The district judge said that some of the evidence given by the alleged victim was questionable.
The district judge was urged by McBurnie's lawyer to find that a degree of club bias was to blame for the accounts given by witnesses.
In her closing speech to the court, defence lawyer Lisa Judge said that the person in the case had lied about the incident and sent an abusive message to McBurnie.
Judge said the player may have a "stern resting face" after seeing a video that showed 6ft 4ins McBurnie looking angry.
The prosecutor opened the case on that boot.
The boot lifted up like a ballerina, trying to clear the legs of Mr Brinkley, who was lying on the floor of the pitch he should not have been on.
McBurnie told reporters that he had been told not to say anything about the case.
They said they were happy with the decision.
"Oliver, his legal representatives and officials at the club are disappointed that he was forced to stand trial after the traumatic scenes atNottingham Forest's City Ground on Tuesday 17th May 2002, when Oliver's team-mate, Billy Sharp, was violently assault."
The fixture atNottingham is one of a number of high-profile incidents where fans have invaded the pitch.
He wrote letters to the Football Association, the English Football League, the League Managers' Association and the Professional Footballers' Association with regards to the safety of players in their place of work.
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