He’s gone from the joint — to a barbecue joint.

Mark Denny, who served nearly three decades behind bars for a crime he didn’t commit, celebrated his exoneration Wednesday with a feast at Dallas BBQ with his family and lawyers.

More than 20 people joined Denny, 46, for lunch at the downtown Brooklyn restaurant, which is just a few blocks away from the courthouse where Supreme Court Justice Matthew D’Emic dropped his conviction.

He was all smiles as he walked over to the eatery with loved ones, at times holding his mom’s hand.

At Dallas BBQ, Denny enjoyed his first lunch as an innocent man, feasting on steak, ribs, shrimp, chicken wings and cornbread. He sipped on ginger ale — and sampled family members’ frozen cocktails.

At one point, the boisterous group raised their glasses and toasted to his freedom.

In 1989, Denny was convicted of the robbery and gang rape of an 18-year-old woman working at a Burger King restaurant in Brooklyn.

But the Brooklyn District Attorney’s Office reviewed his case at the request of the Innocence Project, and ultimately found he wasn’t involved in the horrific crime.

“I am feeling blessed and ready to carry on with my life as best as I can,” Denny said at a press conference after his court appearance.

His mom, Elaine Silver, was ecstatic about his release.

“He is still my baby,” she said. “I am so joyful. This is a glorious moment for me and my children.”