The parents of Reeva Steenkamp have described their shock after Oscar Pistorius was sensationally cleared of the murder of their daughter.

The blade runner left court on bail after Judge Thokozile Masipa ruled there was a lack of evidence to suggest the double-amputee had planned the tragic killing of his girlfriend.

He was found guilty of culpable homicide, having admitted to shooting the blonde beauty four times as she cowered behind the door of the bathroom in his home last February.

Judge Thokozile Masipa told the hushed courtroom: "Having regard to the totality of this evidence in this matter, the unanimous decision of this court is the following: on count one, murder... the accused found not guilty and is discharged. Instead he is found guilty of culpable homicide."

June and Barry Steenkamp spoke of their 'shock and disappointment' as the judge delivered the final verdict.

"We were shocked. Shocked. Disappointed," June Steenkamp told NBC Today. "You know your heart drops because you just want the truth. It's going in the wrong direction, that's how you feel."

They claim the athlete had not told 'the whole story' in court and said they desperately wanted the 'truth' to come out.

"This verdict is not justice for Reeva. I just want the truth. He shot through the door and I can't believe that they believe it was an accident. I just don't feel that this is the right sentence. They believe his story - and I don't believe that story. There were so many mistakes made. It didn't add up. It was disbelief on our minds, it was disbelief on everyone in the world who has been following the case."

The Steenkamps have accused the athlete of lying in court after he told the judge he believed the model was an intruder.

"I understand that he is sorry he's done it and this and that. As I said, there is still something missing. I think there was more to the whole story, you know, coming up to the actual shooting, the killing. I feel there is a lot more to it. I only wish that the true, true story will come out one day."

She added the couple could not face looking at the athlete as he was declared not guilty of murder.

"(We) couldn't even look. (We) didn't want to see him. They were jubilant. I can't share that."

After the verdicts, the Olympic athlete's uncle Arnold Pistorius said the family was "deeply grateful" to the judge for finding him not guilty of murder and that a "big burden" had been lifted.

" 'We never had any doubt about Oscar's version of events. There are no victors in this," he added. "We as a family remain deeply affected by the devastating, tragic event... It won't bring Reeva back but our hearts still go out for her family and friends."

Pistorius faces up to 15 years in prison but some South African legal experts have predicted he could avoid any prison sentence at all.

The Paralympian athlete was also told he could run again at the Brazil 2016 Olympics if he is not in prison, with the game's governing body said there was no reason to disqualify him from competition.

Oscar Pistorius will be sentenced at a hearing on October 13.