A court in Russia's Far East has upheld an appeal by the British adventurer Karl Bushby against deportation.
The expedition has so far taken more than seven years
The ruling means the former paratrooper from Hull can continue his attempt to walk around the world, on which he has already spent more than seven years.
Mr Bushby was arrested after crossing the Bering Strait from Alaska to Russia because he did not enter the country through an official border crossing.
He must still pay a £40 fine, but will not now be expelled from Russia.
Mr Bushby and fellow explorer American Dimitri Kieffer arrived near the unauthorised entry point of Uelen on 2 April.
Although they had valid business visas they were accused of not completing proper formalities on arrival.
It took 14 days for the adventurers to cross the frozen strait
The pair were later detained by border guards and moved to the village of Lavrentiya, where they stayed with a local priest while waiting for a Russian court to decide their fate.
Mr Bushby will now proceed with his 12-year record-breaking bid to walk more than 36,000 miles around the world.
His father, Keith, said he had not yet heard from his son but he was delighted by the news.
"It will be a great weight lifted from his shoulders," he said. "They will now spend the next couple of weeks collecting their equipment and getting themselves together.
"I'm absolutely delighted, this is great news."
The trip called the 'Goliath Expedition' began near the southern tip of South America, in the Chilean town of Punta Arenas, in 1998.
Mr Bushby then walked north through South America, Central and North America, crossing from Alaska into Siberia via the frozen Arctic waters of the Chukchi Sea (north of the Bering Straits).
Before his arrest, he had hoped to travel south west down the eastern coast of Russia, before turning west across Asia and Europe and reaching the UK, via the Channel Tunnel, in four years time.