Rev Daniel Woodhouse (pictured left) and Samuel Walton (pictured right) said they broke into the BAE Systems site in Warton to disarm Tornado planes they feared would be used by Saudi Arabia to bomb Yemen.
Reacting to the decision by a district judge at Burnley Magistrates Court on Thursday to clear them, 30-year-old Rev Woodhouse and Mr Walton, 31, said they would take the action again "in a heartbeat".
In a joint statement, they said: "We did not want to take this action, but were compelled to do so in order to stop the UK government's complicity in the destruction of Yemen.
"We do not regret taking action, and would do it again in a heartbeat; the only thing we regret is that we were not able to finish the job."
"We deplore the continued UK arms sales to Saudi Arabia."
Rev Woodhouse, from Armley Grange Drive in Leeds and Mr Walton, of Cromwell Road in Lambeth, gained entry to the BAE Systems site in January but were stopped by security staff before they could reach the aircraft.
A spokesman for BAE Systems was quoted by the BBC as saying: "We note the verdict today. This matter was for the magistrates' court to resolve."