In April, a U.S. District Court jury in Baltimore was unable to reach a verdict in King's bank robbery trial.
"It was apparently an identification problem,'' said Assistant U.S. Attorney Steve Schenning then of the jury's inability to agree on guilt or innocence.
FBI Agent Barry O'Neill, who investigated the robbery case, confirmed Tuesday that King won't be retried federally.
King, who didn't appear in court Tuesday, has been returned to New Jersey where he was serving a 99-year sentence for murder when he escaped from Bayside State Prison in Delmont, N.J., in 1995.
The driver of the getaway car in the robbery was jailed last week for her part in the crime.
Tyreese Charlee King, 17, of 121 W. Bethel St., was sentenced to six months in the Washington County Detention Center for being an accessory before and after the crime.
Asa King had been charged with armed robbery, conspiracy to commit robbery, felony theft, use of a handgun in a violent crime and carrying a concealed weapon in the daylight hold-up of the Hagerstown Trust Bank branch in Boonsboro.
After the Boonsboro robbery, witnesses saw a man jump into the trunk of a waiting vehicle.
Shortly after the robbery, Hagerstown City Police and Maryland State Police stopped a vehicle matching the description of the getaway car in the area of Jonathan and Bethel streets and arrested the driver, Tyreese King.
There was no one in the trunk of the car at that time, police said.
Asa King was picked up by the FBI's Fugitive Task Force in Detroit last December, just days after he was featured on "America's Most Wanted'' for the Boonsboro robbery and his 1995 escape.
When he was arrested in Michigan, Asa King, now 37, was armed with a .380 semiautomatic pistol, which was tucked in his waistband, the FBI said.
The FBI's Detroit Division had received information that King was in the city. Hours later, King was apprehended after being spotted walking to a convenience store.
King told agents that he had been in Atlanta a few days earlier and had seen himself on "America's Most Wanted," the FBI said.