The Secretary of State for Defence has offered to spend public money defending a soldier charged with murder and attempted murder.
Eighteen others, including 16 former British soldiers and two nationalist gunmen said to have fired shots that day, will not be prosecuted, the officials said, on the grounds that there was insufficient evidence to provide a reasonable chance of conviction.
They also considered whether to prosecute two former members of the Irish Republican Army (IRA) for their role on the day, one of the seminal events during "The Troubles".
"The Bloody Sunday families are not finished yet", he said.
"The families of the victims should be honoured for their determination, dignity and continued bravery on behalf of those who were so brutally murdered and they will continue to be supported", Mr Martin said.More news: Sam Smith Reveals Why He Had Liposuction at Age 12
"Their victory is our victory", he said.
The families and members of the public were joined by a host of dignitaries, human rights activists, community representatives and politicians including SDLP Leader Colum Eastwood, Sinn Fein leader Michelle O'Neill, Foyle MP Elisha McCallion and Mayor of Derry & Strabane Colr.
But he welcomed the positive news for the six families impacted by the decision to prosecute soldier F.
It was an unequivocal conclusion for the relatives of the 13 civilians killed by British paratroopers in Derry on Bloody Sunday.
"In these circumstances the evidence Test for Prosecution is not met".
British Defense Secretary Gavin Williamson promised that the United Kingdom government would pay for Soldier F's legal support.
"We are indebted to those soldiers who served with courage and distinction to bring peace to Northern Ireland", Williamson said in a statement.
Among them was Mary Lou McLaughlin from the Bogside, who told the Journal: "Whether there are prosecutions or not, we are here to stand with the families of the victims of Bloody Sunday".More news: UNC Basketball: Tar Heels lose heartbreaker in ACC semifinal
The deaths of 13 innocent civil rights demonstrators in Londonderry nearly half a century ago helped galvanise support for the Provisional IRA early in the Troubles.
The families of the victims of Bloody Sunday have hoped for years to have those who fired the fatal shots held accountable for the deaths.
"The welfare of our former service personnel is of the utmost importance". This includes funding all his legal costs and providing welfare support. He said: 'The Ministry of Defence is working across government to drive through a new package of safeguards to ensure our armed forces are not unfairly treated.
"And the Government will urgently reform the system for dealing with legacy issues".
"Our serving and former personnel can not live in constant fear of prosecution", he said.
As a result of that inquiry, referred to as the "Saville" report for the judge who headed it, the Police Service of Northern Ireland began a murder investigation with detectives submitting their results to the Public Service of Northern Ireland toward the end of 2016.
The decision to prosecute came a week after Britain's minister for Northern Ireland, Karen Bradley, was forced to apologise for saying that killings by British soldiers and police were "not crimes".More news: Bangladesh cricketers narrowly dodge New Zealand mosque attack