Hockey Night in Canada commentator Mike Milbury will not face charges in connection with a Dec. 9 incident in a minor hockey game in Brookline, Mass.

Brookline Police Captain Thomas Keaveney told CBC News that a judge on Friday dismissed charges of assault and battery on a child, threatening to commit a crime, and disorderly conduct that police had sought less than a week ago.

"Well, that's good that's it's over a couple days before Christmas," Milbury said after the hearing. "It was an unfortunate misunderstanding."

CBC spokesperson Chuck Thompson said Milbury will return to his regular role as a panelist on The Hotstove during the HNIC broadcast on Dec. 31.

The alleged incident stemmed from a peewee game involving Milbury's son, Jake, at Jack Kirrane Ice Skating Rink at Larz Anderson Park, where Milbury was hosting a Winter Classic event with his wife Ginger. He was also serving as assistant coach for his son's team, the Boch Blazers.

According to Keaveney, on Dec. 18, the 59-year-old Milbury allegedly grabbed the boy by his shirt collar, picked him up and shook him before other coaches intervened and broke it up.

Milbury's lawyer, Dan Rabinovitz, denied the allegations of assault, saying his client simply intervened in an altercation between his son and an opposing player.

On Friday, Milbury released a statement saying he was grateful "that the clerk magistrate found no reason to further investigate the incident," adding "I know I acted responsibly to break up an altercation between two young boys in order to prevent potential injury to both.

"My actions were in no way inappropriate and I would take the same actions today if confronted with a similar situation in the future."

In an interview with the Boston Globe on Dec. 17, Milbury said he never struck or assaulted the player, but did grab him by the uniform to cut short the on-ice battle between his son and the alleged victim, a 12-year-old only known as Zach, according to the Boston Jr. Blackhawks' website.

"I want to be clear about a couple of things," Milbury told the newspaper. "No one was punched, kicked, or assaulted in any way. I know the 'Mad Mike' image that I have and all that. I love the game, I'm passionate about it, but I don't smack kids around.

"I grabbed the other kid by the sweater to stop a fight and, yeah, I swore at him. That's it. That's what I did."

The former NHL player, coach and general manager joined Hockey Night in Canada in 2008 and also does broadcast work for NBC and the New England Sports Network.

Milbury did not appear on HNIC's Dec. 17 broadcast and also that day mutually agreed with NBC Sports to not appear on any of its hockey broadcasts for the immediate future.

With files from Associated Press