Hero policeman James Stuart McMillan (above) has been found not-guilty of raping a woman in early 2017

A hero policeman says he is looking forward to going back to work and 'getting his life back on track' after being found not guilty of raping a woman - hours after he received a bravery award for saving the lives of three people.

James Stuart McMillan was acquitted by the jury of seven men and five woman on Friday morning after a day of deliberations at the NSW District Court.

Senior Constable McMillan, 45, had been charged with raping the woman in room 216 of the Ibis Hotel at Darling Harbour on February 24, 2017.

Just hours before the alleged assault he had stood on stage to receive a bravery award from the NSW Police for saving the lives of three elderly people.

Three years earlier he and a colleague responded to a triple-zero call that a house was filling with deadly carbon monoxide, at which point they sped to the house, rushed inside and carried the trio to safety.

Senior Constable McMillan hugged his crying mother and father after the verdict was handed down and told Daily Mail Australia outside court he was ready to put the ordeal behind him.

Senior Constable McMillan (left) pictured with NSW Governor David Hurley (right), told Daily Mail Australia outside court after being acquitted that he was a 'relieved' man

After returning to the Ibis Hotel (pictured) he was alleged to have given the woman a massage before sexually assaulting her even as she said: 'If you don't stop, I'm going to yell out to your parents'

'Mate, I'm just relieved. It’s been a long 18 months and just keen to get my life back on track,' the acquitted policeman said.

'I'm ready to get back to work, but I'll certainly go and celebrate with my family this afternoon - I couldn't have done it without them.'

The court had heard during the week-long trial that Senior Constable McMillan had travelled to Sydney with his parents and the woman for the awards ceremony where he was a guest of honour.

After receiving his award he and the woman went back to their hotel room where she alleged he raped her on the bed, continuing even as she said: 'Stop, stop'.

The court heard the woman claimed she even threatened to yell out to the parents of the policeman who were staying in the next room, just metres away.

But defence lawyer Kellie Stares told the jury in her closing statement on Wednesday that there was doubt over whether there had been 'penetrative sex'.

Senior Constable McMillan told Daily Mail Australia outside court that he was looking forward to celebrating with his family, who have supported him throughout the trial (pictured)

Ms Stares instead submitted to the court that Senior Constable McMillan had 'only touched her on the outside' of her genitals.

She also pointed to evidence the woman had continued to be in a sexual relationship with the policeman for months after the alleged sexual assault.

'This is inconsistent with how a genuine victim of rape would act,' Ms Stares told the court.

Ms Stares said that throughout the entire trip to Sydney the woman had appeared to be 'happy' in the company of both Senior Constable McMillan and his parents.

Text messages between the pair exchanged on February 25, 2017 - less than 24 hours after the alleged sexual assault - showed the woman inviting the policeman to her house.

'If you'd been sexually assaulted you sure as hell wouldn't want them to come around the next day,' Ms Stares told the jury.

At the time of the alleged rape, Senior Constable McMillan (right) was in Sydney with his mum (left), dad and the woman to attend the awards ceremony

The court also heard the policeman was not charged until six-months after the alleged offence.

This was because the woman did not go to police, instead during a later conversation with a police officer friend she mentioned that Senior Constable McMillan 'held her down' during sex.

That officer then informed her superior, who contacted the woman over Facebook to ask if she would like to make a complaint.

Senior Constable McMillan has been suspended by NSW Police while the matter has remained before the court.