Richardson broke down in court as the judge read the verdict.
She was found not guilty of the most serious charges: aggravated murder and involuntary manslaughter as well as child endangerment.
The jury found Richardson guilty of abuse of a corpse.
Prosecutors argued that Richardson hid her pregnancy in 2017, gave birth alone in secret in her family's home then killed and buried her newborn.
Richardson's attorneys argued that the baby girl was still-born and that their client kept it all a secret because she was afraid.
Investigators found skeletal remains when Richardson led them to the burial site, and no cause of death was established.
Her sentencing is set for Friday afternoon on the charge of abuse of a corpse.