The victims, all Liverpool supporters, died in an overcrowded, fenced-in enclosure at the Hillsborough stadium in Sheffield, northern England, during an FA Cup semi-final between Liverpool and Nottingham Forest.
The most high-profile defendant is former police chief superintendent David Duckenfield, who was in charge of police operations at Hillsborough on the day of the disaster.
He was charged with manslaughter, said Sue Hemming, head of the special crime and counter-terrorism division at the Crown Prosecution Service, during a statement.
He was not charged over the death of the 96th casualty, who died four years after the disaster, because of legal time limits that were in force at the time, Hemming said.
Barry Devonside, who survived the stadium crush but lost his 18-year-old son Christopher, pumped his fist as he emerged from the building. He said he was delighted and agreed with prosecutors.
British Prime Minister Theresa May also welcomed the announcement as she took questions in parliament.
Police at first blamed the tragedy on drunken fans, an explanation that was always rejected by the families of the victims and the wider Liverpool community. Relatives spent decades campaigning for justice for the 96.
Weapons recovered from them include a fabricated AK-47 rifle.
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