Judge Thokozile Masipa, issuing the ruling in court in Pretoria, also gave Pistorius a three-year suspended sentence for a firearms charge. The prosecution had called for a minimum 10-year sentence; the defence for community service and house arrest.
Pistorius was convicted of culpable homicide but cleared of murder. She said there must be a balance between retribution, deterrence and rehabilitation.
The judge began summarising the evidence brought before the trial. She described the evidence of defence witness and social worker Annette Vergeer as "slapdash and disappointing".
Ms Vergeer had argued Pistorius would be "a lot more vulnerable than the normal man" in jail.
But Judge Masipa said she was sure prisons were equipped to cater for the requirements of a special needs inmate.
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