Engadine man Kulvir Singh Mahal has had charges against him withdrawn after the death of Illawong man Fred Dib in February.
Mr Dib, 45, was hit by two cars in Alfords Point Road on February 17.
The second-car driver and witnesses said the Illawong man was on the road before the accident happened.
He was treated for head, stomach and leg injuries but died later in St George Hospital.
Police said at the time that they believed two cars hit Mr Dib with the second-car driver stopping to help him and wait for emergency services.
Police said they believe Mr Singh was driving a white Toyota Camry north when he hit Mr Dib.
The impact pushed Mr Dib into the southbound lane where he was hit by the second car.
The Indian national was charged with negligent driving causing death and failing to stop and assisting after a vehicle impact causing death or grievous bodily harm.
He had pleaded not guilty at a July 16 court appearance and a hearing date was set for October 6 at Sutherland Court.
However during the court appearance on Tuesday, both charges against him were withdrawn.