ROCKVILLE - Former Greenwich resident and Kennedy cousin Michael Skakel is one step closer to walking free today after a judge lifted a stay in his case.

Skakel was convicted in the 1975 death of neighbor Martha Moxley, who was beaten to death with a golf club. The 53-year-old has been in prison on a 20-year sentence since 2002.

Last week, the court granted Skakel’s appeal to give him a new trial. Skakel's attorney says there is no reason his client should have been convicted of murder or be behind bars.

"No eyewitnesses, no DNA, no trace evidence, no fingerprints," says Hubert Santos, Skakel's attorney.

The judge's lifting of the stay means Skakel could be free if a judge sets his bail.

Prosecution has 10 days to appeal the judge’s ruling.