64-old Munde, a popular backward class BJP leader from Maharashtra, was on his way to Indira Gandhi Airport on June 3 when his car was hit by another vehicle at the Prithviraj Road-Tughlak Road roundabout in the heart of the national capital.
Doctors had said that Munde died due to shock and haemorrhage following injuries to his neck and liver in the accident.
The CBI had taken over the investigations a fortnight after the accident after the home ministry recommended handing over of the case to the agency.
BJP leaders from Maharashtra, including Union Minister Nitin Gadkari, had also sought a CBI inquiry into Munde's death.
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"Investigation was conducted to find out if any foul play or criminal conspiracy was involved in the death of Munde. During the probe a through scrutiny of all possible leads and angles were conducted.
"The antecedents and movements of suspected persons and all those associated with the Minister were verified. However, the probe has clearly ruled out any foul play in the death of Munde and it has been concluded that he died as a result of injuries sustained in the accident," the CBI report said.
On Singh, CBI said, "investigation was also made in respect of the antecedents and background of the taxi driver" but nothing suspicious was found.
However, the CBI said investigation continues to establish the culpability of the driver of the vehicle involved in the incident.
The CBI had registered a case U/s 279 (rash driving) and 304A (causing death by negligence) of IPC against unknown persons relating to the accidental death.