Miranda, of course, did do time for the rape and kidnapping of the young woman. After his initial conviction was overturned, famously, by the Supreme Court, he was retried by the state of Arizona. He was convicted a second time, this time based on the testimony of the young woman, herself.
He was in parolled from prison in 1972.
Miranda was knifed and killed in an Arizona bar fight in 1976. The suspected assailant fled as was not arrested. However, the man who provided the murder with the murder weapon was apprehended. He, of course, was read his Miranda Rights.
Following the Mapp ('61), Gideon ('63) and Escobedo ('64) decisions, all of which expanded rights of the accused, there was some hue and cry for the impreachment of Chief Justice Earl Warren.
To be best understood, one has to look at Miranda as completing the constitutional changes the other three cases moved forward.
The 4th, 5th, 6th Amendment mini-unit in my Government/Modern Problems class is one of my favorite. In the midst of it right now.