The 65-year-old actor died of head trauma, a statement from the family revealed.
The statement, obtained by E! News, said Mr Saget “accidentally hit the back of his head on something” and went to bed that night “thinking nothing of it”.
Drugs and alcohol were not involved in the incident.
“In the weeks since Bob’s passing, we have been overwhelmed with the incredible outpouring of love from Bob’s fans, which has been a great comfort to us and for which we are eternally grateful,” the statement continued.
“Now that we have the final conclusions from the authorities’ investigation, we felt it only proper that the fans hear those conclusions directly from us.”
The celebrated TV star was found dead in his Ritz-Carlton in Florida, where he was staying during his comedy tour.
The family reflected on Mr Saget’s life and the legacy he left behind.
“As we continue to mourn together, we ask everyone to remember the love and laughter that Bob brought to this world, and the lessons he taught us all: to be kind to everyone, to let the people you love know you love them, and to face difficult times with hugs and laughter,” the statement said.