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Romans 3:20 shows the “therefore” of condemnation, but Romans 8:1 gives the “therefore” of no condemnation–a tremendous truth and the conclusion of a marvelous argument. (The words “who walk not … etc.” do not belong here according to the best manuscripts. There are no conditions for us to meet.) The basis for this wonderful assurance is the phrase “in Christ Jesus.” In Adam, we were condemned. In Christ, there is no condemnation!
The verse does not say “no mistakes” or “no failures,” or even “no sins.” Christians do fail and make mistakes, and they do sin. Abraham lied about his wife; David committed adultery; Peter tried to kill a man with his sword. To be sure, they suffered consequences because of their sins, but they did not suffer condemnation.
The law condemns, but the believer has a new relationship to the law, and therefore he cannot be condemned. Paul made three statements about the believer and the law, and together they add up to no condemnation.