Ms Brennan, who has been supported by Christian Concern, had been accused of breaching the law outside Causeway Hospital in Coleraine.
The dismissal comes amid wider concern over Northern Ireland’s safe access zone law, days after retired Pastor Clive Johnston was fined for preaching during an open-air service near Causeway Hospital.
Ms Brennan said the case had brought her through “some very tough stressful times”, but had also strengthened her faith.
“I’m in awe of God and I’m falling more and more in love with him as I go through this incredible faith journey,” she said. “I have learned so much about myself. I have learned that I am stronger than I ever thought I was.”
Ms Brennan said the case had weighed heavily on her because of what she described as being “falsely accused of harassment by reaching out in love”.
“I suppose you could say that love has made me a criminal,” she said. “I have seen and witnessed heart-wrenching sorrows of girls regretting their abortions. This is my driving force. I am even willing to undergo this personal persecution to fight for these women.”
Ms Brennan said she had faced “backlash” on social media and that the stress of the case had caused her “many sleepless nights”, but it was the support of her prayer group, St Michael’s Warriors, that helped carry her through “some incredible dark days”.
“I had complete faith I would win this case and trusted Jesus in the storm no matter how bad things looked for me,” she said.
Following the dismissal of the case, Ms Brennan said: “I am ecstatic this is over. I can now focus on how I can move forward in this fight against our freedoms of speech and freedom of religion. I will continue to be a voice for the voiceless.”
A separate case involving Ms Brennan under the same safe access zone legislation remains ongoing.