A judge in Los Angeles has thrown out a molestation lawsuit against the estate of Michael Jackson, saying the accuser waited too long to make the legal claim against the late pop star.

Wade Robson, 32, a former dancer for Jackson and for Britney Spears, claimed Jackson molested him between 1990 and 1997. But Los Angeles Superior Court Judge Mitchell Beckloff ruled Tuesday that Robson could bring a lawsuit “only for a reasonable time period after any violence, intimidation or threatening conduct by the decedent ceases,” MyNewsLA reports.

That time period had passed, Beckloff decided.

Robson, who also performed on So You Think You Can Dance, defended Jackson for years, telling PEOPLE in 2003 that “his heart is so genuine” even though he had “no concept of a normal life.” That same year, Robson said he had shared a bed with Jackson as a child “but nothing strange happened.”

In 2005, Robson said under oath in another molestation case that Jackson never abused him, reports the Daily News.

Only in 2012, in a therapy session, did he realize what Jackson had really done to him, Robson said in a recent sworn statement connected to this attempt to file a late probate claim.

“I began to recognize for myself that Jackson had molested me,” he claimed. “I first spoke about the sexual activity I had with Jackson. This revelation initiated an enormous emotional, psychological and physiological upheaval in my life that continues until this day.”

Robson filed court papers in May 2013, nearly four years after Jackson’s death on June 25, 2009.

Howard Weitzman, an attorney for the Jackson estate, hailed Beckloff’s ruling, saying the estate believed Robson’s earlier sworn testimony in Jackson’s defense “when his sole motivation was ‘to tell the truth, the whole truth and nothing but the truth.’ “