Manhattan prosecutors cleared TV anchor Greg Kelly of rape Tuesday, the Daily News has learned. Kelly, the son of NYPD Commissioner Raymond Kelly, said he was grateful and promised a rapid return to Fox 5’s “Good Day New York.” “I am thankful that the investigation established what I’ve known all along, that I am innocent of the allegations that were waged against me,” Greg Kelly said in a statement. ‘THANKFUL’ KELLY SPEAKS OUT: READ THE FULL STATEMENT HERE His career was hanging in the balance for the last two weeks as detectives weighed evidence in the case. The decision, first reported by NYDailyNews.com, came late Tuesday. “We have concluded that the established facts do not constitute a crime under New York criminal law,” said Joan Vollero, spokeswoman for Manhattan District Attorney Cyrus Vance, Jr. A co-worker at Channel 5 called it “a big relief.” “Those who know Greg always felt he should be exonerated. Hopefully the headlines will be as big for this part of the story,” the co-worker said.