Cisneros' defense attorney, Jeff Hammerschmidt, said the charges in the indictment from the district attorney's office were past the statute of limitations.
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Prosecutors had filed charges alleging the victim was aged 14 to 15 years old at the time of the crime, which would allow for the case to move forward despite the statute of limitations.
Prosecutors eventually learned the victim was 16 years old, resulting in the case against Cisneros being dismissed.
The Fresno County district attorney's office has forwarded the case to federal prosecutors who have a different statute of limitations.
They'll consider whether to file charges against Cisneros for charges including deprivation of rights under color of law.
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Cisneros resigned from the Coalinga Police Department in May of 2020, shortly after he was placed on leave.
His attorney says he maintains his innocence.