NEWARK, N.J. (AP) — Federal prosecutors decided Wednesday not to retry Sen. Bob Menendez on corruption charges that ended in a hung jury last fall, lifting the legal cloud hanging over the New Jersey Democrat as he gears up for re-election this year to the closely divided Senate.

The move brings to an end a more than five-year investigation that began with never-substantiated allegations about consorting with prostitutes and eventually resulted in a bribery indictment.

Menendez, 64, was charged with trading his political influence for gifts and campaign contributions from Florida eye doctor Sa...