Schuman, who was a member of the 2000s girl group Dream, said she was she was 18 and he was 22 when the alleged incident occurred. Then he took her to a bedroom and raped her, she said.
Carter maintained the sex was consensual, saying, "I am shocked and saddened by Ms. Schuman's accusations".
"Melissa never expressed to me while we were together or at any time since that anything we did was not consensual", Carter said.
Schuman - who wrote a blog post earlier this year to publicly accuse Carter of raping her at his Santa Monica apartment while they were working on a TV film together - filed her claim with police last month.
Prosecutors concluded that because of the amount of time that had passed, a proper analysis of strengths and weaknesses of evidence could not be achieved.
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The 38-year-old Backstreet Boys singer tweeted the tragic news to his followers. Schuman said it's unfortunate the state didn't make the move retroactive to accommodate victims like her.
She admitted she was "well aware of the likelihood that my case was not prosecutable", but that it had still provided her with "great solace" to know that her case had been documented by law enforcement.
A statement from Carter's attorney Michael Holtz obtained by CNN said, "Nick Carter was cleared today when the L.A. County District Attorney's Office rejected the charges against him".
"Nick has denied these allegations ever since he first learned of them previous year", attorney Michael Holtz said in the statement.
This is not the first time that the couple has gone through their share of struggles to have a child, as they also lost one other child to miscarriage when Kitt was 16 weeks along in a previous pregnancy.
"He is happy to put this matter behind him".