In an exclusive interview with CNN's Jean Casarez, attorney Brian McMonagle said the jury's inability to reach a verdict made it clear the trial should end.
Cosby's depositions in that case, however, were unsealed by a federal judge in 2015, revealing his admissions that he had given sedatives to young women in the 1970s. "Once a jury decides deadlock, what is the point to keep going?"
Cosby's wife of 53 years, Camille, slammed prosecutors for bringing the case to court, calling District Attorney Kevin Steele "heinously and exploitively ambitious" in a statement released after court adjourned.
Stay tuned on this one.
The mistrial was a blow to the dozens of women who have said they were sexually assaulted by Cosby.
"If Mr. Cosby asks me and he wants me to go to back and do battle for him again, then I'll be there".
He co-starred in the 1960s espionage show "I Spy", the first black performer to star in a weekly American TV dramatic series.
Constand testified she had been given three pills and became "frozen" and "semi-unconscious" and described being sexually touched by Cosby in his Philadelphia mansion. Totally unethical. How do I describe many, but not all, general media?
Criminal charges aside, Cosby also faces several civil suits - 10 of them, to be exact.
The judge said he saw no evidence of coercion or trouble in the deliberating room after the jurors reported their impasse on Thursday and he instructed them to keep trying for a verdict.
Instead she put across a venomous attack on Steele's credibility, as well as that of Judge Steven O'Neill and the media.
Callan said the $33.5 million awarded in the case reflected the jury's reaction to a double homicide and was larger than a potential award to someone who has civil claims against Cosby. It wasn't immediately known how many jurors wanted to convict and how many wanted to acquit.
He reminded prosecutors and the defense that "a mistrial is neither vindication nor victory for anybody". Cosby's lawyer says he and Constand were lovers sharing a consensual sexual encounter.
Victoria Valentino, a former Playboy model who has accused Cosby of drugging and raping her decades ago, had a message for him.
A conviction could send Cosby to prison for the rest of his life, but the case has already helped demolish Cosby's nice-guy image, cultivated during his eight-year run as Dr. Cliff Huxtable on "The Cosby Show", the top-rated 1980s and '90s sitcom.
The actor was charged with three counts of aggravated indecent assault, all focusing on the alleged assault of Andrea Constand, 44, who was then manager of the women's basketball team at Temple University, where Cosby was a member of the board of trustees.
But the entertainer had kept positive, McMonagle said. "I am a truth-teller".
"It's extremely emotional", said Jewel Allison, a NY woman who has said that Cosby assaulted her, as she prepared to leave the courthouse.
Cosby has suggested he hopes to resume his career and his role as a public moralist. Prosecutors quickly promised to retry Cosby, and Constand was just one of at least 60 women to publicly accuse him of sexual assault or harassment.