Metropolitan Police officer Martin Blake was acquitted by a jury at the Old Bailey after about three and a half hours of deliberations on Monday.
Mr Kaba’s family said they were “devastated” and felt the “deep pain of injustice”.
They said the sentence was a setback “for all those affected by police violence”, adding that “no family should have to endure the unimaginable grief we have faced”.
In a statement released by the Inquest campaign, Mr Kaba’s family said they would “continue to fight for Chris, for justice and for real change”.
On Monday evening, more than 100 people gathered outside the Old Bailey, where a number of speakers demanded justice for Mr Kaba and his family.
A banner reading “We Protect Each Other” was raised as well as posters reading “Justice for Chris Caba”.
Chants of “Say his name – Chris Caba” and “No justice – no peace” were heard outside the Central Criminal Court on Monday evening as police closed the road to traffic.
One speaker urged people to join the march in central London on Saturday and said Mr Kabba’s family would be there and deliver a letter to Downing Street.
Mr Caba’s cousin spoke at the event about how the family had hoped for a conviction.
She also said they “haven’t really started to process” the verdict.