The Office of the Traffic Commissioner has ruled no case would be taken against the bus provider.
Monitoring by the Department for Driver and Vehicle Standards Agency found 52 journeys recorded as more than five minutes late in April.
Traffic Commissioner, Kevin Rooney, found no fault as the company highlighted they are registered as a frequent service provider.
Mr Rooney said: “I commend the operator’s systems and find no fault with either the company nor the transport managers called to this inquiry.”
With this type of a service a bus provider ensures a maximum of 15 minute intervals between services in 95 per cent of cases. The company evidenced it did so at seven minute intervals.
CEO of the Harrogate Bus Company, Alex Hornby said: “We welcome the Traffic Commissioner Kevin Rooney’s adjudication that no action be taken against us, and which concludes this matter.
“We are pleased that Mr Rooney has recognised our detailed response to this inquiry. Having seen a report on our vehicle maintenance regime, he describes them as ‘exemplary’.
“The Traffic Commissioner also credits our continued positive approach to service improvements, including ticketing initiatives, and recognises the proactive way that we manage our operations in Harrogate and elsewhere.
“We take our responsibilities as a bus operator and road user extremely seriously, and will continue to focus fully on delivering our five-year vision to transform Harrogate’s bus network, creating a cleaner, greener environment across the town and beyond.”