The Crown Prosecution Service said there was “insufficient evidence to prosecute” the 75-year-old singer.
Martin Goldman, Chief Crown Prosecutor for Yorkshire and Humberside, said: “The CPS has carefully reviewed evidence relating to claims of non-recent sexual offences dating between 1958 and 1983 made by four men.
“We have decided that there is insufficient evidence to prosecute.
“This decision has been made in accordance with the Code for Crown Prosecutors and our guidance for prosecutors on cases of sexual offences.
South Yorkshire Police faced ridicule when Sir Cliff’s home was searched. The controversy surrounded a deal the force struck with the BBC which led to the raid being covered on live TV, a situation an independent report found had “interfered with his privacy and may well have caused unnecessary distress”.
Chief Constable David Crompton was accused by MPs of incompetence over his force’s handling of the affair.
Today’s CPS statement read: “The CPS worked with police during the investigation. This has helped minimise the time needed to reach a decision once we received the complete file of evidence on 10 May.
“The complainants have been informed and provided with a full explanation in writing.”