State District Judge Don Adams told Dupree, who had been on parole since July, he was "free to go," The Dallas Morning News reported.
"It's a joy to be free again," Dupree, 51, said at his court hearing where he was officially exonerated.
Dupree later told reporters, "I feel that words won't make up for what I lost."
Dupree and a second man had been convicted in a 1979 abduction, robbery and rape in Dallas. Co-defendant Anthony Ray Massingill also was cleared in the case but remains jailed on a second rape conviction.