Common Pleas Judge Steven O'Neill issued the ruling after a hard-fought two-day hearing, saying witness credibility was a factor. He did not elaborate.
In another setback for the defense, the judge also denied a request to disqualify newly elected District Attorney Kevin Steele from the case. Cosby's lawyers had accused Steele of making a "political football" out of Cosby during the campaign.
Cosby, 78, was arrested in December and charged with drugging and violating former Temple University athletic department employee Andrea Constand at his suburban Philadelphia home in 2004. The TV star could get up to 10 years in prison if convicted.
The next step is a preliminary hearing March 8 to determine whether prosecutors have enough evidence to put him on trial.
The charges represented an about-face by the district attorney's office.
In 2005, then-District Attorney Bruce Castor decided the case was too flawed to prosecute. But Castor's successors reopened the investigation last year after Cosby's lurid, decade-old testimony from Constand's civil suit was unsealed at the request of The Associated Press and after dozens of other women came forward with similar accusations that destroyed Cosby's nice-guy image as America's Dad.
Similarly, Cosby's lawyers said they never would have let the TV star testify in the civil case if they didn't believe criminal charges were off the table.
"In this case, the prosecution should be stopped in its tracks," Cosby lawyer Chris Tayback argued. "Really what we're talking about here is honoring a commitment."
Steele challenged Castor's credibility and questioned whether the former DA ever made such an agreement, since it was never put in writing on a legal document and the Cosby attorney with whom Castor dealt is now dead. Steele argued that in any case, Castor had no legal authority to make such a deal.
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