Margraves had first asked the judge to give him a minute alone with Nassar, and when his request was turned down, he suddenly lunged at the defendant.
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Sheriff's deputies tackled him to the floor as he yelled, "Let me have that son of a bitch!"
Eaton County Judge Janice Cunningham admonished Margraves but decided not to charge him with contempt after he apologized.
Prosecuting Attorney Douglas Lloyd said he took that into account, along with a request from Nassar and his attorneys that Margraves not be punished.
"I have exercised my inherent prosecutorial discretion to not issue charges against Randall Margraves," Lloyd said in a statement.
The decision was hardly a surprise given the public outpouring of sympathy for Margraves, who turned down donations made through unauthorized GoFundMe drives.
If I'm being honest, I think we are all Randall Margraves. Though I agree his response is not the helpful one, it's the honest one. I can only begin to imagine his feelings of loss and failure... though so far from the truth. I hope he finds restoration and peace. #LarryNassar