Led Zeppelin Wins 'Stairway to Heaven' Suit ... It's NOT a Rip-Off

Led Zeppelin's Jimmy Page and Robert Plant didn't jack the rock classic "Stairway to Heaven" ... according to the jury in their song theft trial.

The verdict came in Thursday morning -- after less than a day of deliberation -- and the jury ruled in favor of Zeppelin.

The trustee for songwriter Randy Wolfe, from the group Spirit, had sued claiming the iconic 'Stairway' guitar riff was lifted from Spirit's song, "Taurus." The jury didn't hear that and said there was no substantial similarity.

During the trial ... Spirit bassist Mark Andes recalled the band played "Taurus" at a Denver show where Led Zeppelin opened. Zepp's attorney claimed the bands were never onstage together and never toured together.

But a 1968 concert review in the Rocky Mountain News -- found on LZ's own website -- puts the bands together at the Denver concert. It was Zeppelin's U.S. debut.

In court ... guitar and piano renditions were played by musicians from both sides. Defense experts argued the songs only share a descending chord sequence that's common -- and clearly, the jury agreed.

"If you listen very hard ... the tune will come to you at last."