SUFFIELD, Conn. — Imprisoned Kennedy family cousin Michael Skakel lost a bid for freedom on Wednesday, turned down at his first parole hearing since he was convicted a decade ago of beating his teenage neighbor to death with a golf club and told he would not be eligible again to be considered for release for five years.

Skakel, who proclaimed his innocence at the hearing, nodded, grimaced, and patted his lawyer on the back as he was led away after the three-person state parole board announced the unanimous decision.