Street View provides 360-degree images taken from cars equipped with cameras and GPS driving around US cities.
Aaron and Christine Boring, from Pittsburgh, sought $25,000 (£17,700) from Google, which they accused of causing them mental suffering, after images of their home went up.
However, they had their claim thrown out by judge Amy Reynolds Hay, who concluded they could not prove they had suffered as a result of having their home displayed.
She said: "While it is easy to imagine that many whose property appears on Google's virtual maps resent the privacy implications, it is hard to believe that any -- other than the most exquisitely sensitive -- would suffer shame or humiliation."
Google said it blurs identifiable faces and licence plates in Street View and allows people to decide whether or not they want images to appear, and pointed out the couple never contacted it to request the image of their home was removed.
Google was recently , which allows opted-in people with a GPS-equipped mobile phone to be tracked on a map.