Kevin Clash, the voice of Sesame Street's Elmo, has been cleared of allegations he had sex with a 16-year-old boy.

Clash's accuser, now 23, recanted that claim on Tuesday, according to a statement issued by his lawyer.

“[H]e wants it to be known that his sexual relationship with Mr. Clash was an adult consensual relationship,” the law firm Andreozzi & Associates said.

The reversal came a day after celebrity website published the claims.

Clash had acknowledged having sex with his accuser but denied he was underage at the time.

“I am relieved that this painful allegation has been put to rest,” the puppeteer and voice actor said through a spokesman. “I will not discuss it further.”

Clash, a 52-year-old divorced father of a grown daughter, has been the voice of an animated Elmo since 1984.

Sesame Workshop, which produces Sesame Street, said in a statement that it was “happy that Kevin can move on from this unfortunate episode.”

According to The New York Times, Clash had not previously publicly acknowledged that he is gay.