A CPS spokeswoman said police had been advised to issue a formal caution after it was deemed "not in the public interest" to charge Mr Sheehan.
The married 55-year-old, pictured right, will also be on the sex offenders register for two years.
Hayley Firman, Assistant District Crown Prosecutor for Birmingham CPS, said: "Following a thorough investigation by West Midlands police and a careful review by the CPS, a decision has been made that it is not in the public interest to charge Mr Sheehan.
"When considering whether a case should be prosecuted the CPS applies the Code for Crown Prosecutors. This Code is applied, however serious the charge, whoever the potential defendant and whatever their occupation."
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Written by Coventry Evening Telegraph