Mr Justice Collins backed a challenge by developer Aldergate Projects Ltd, which argued that the station could jeopardise its nearby Stockwell Gate retail scheme.
The judge ruled last week that the council's planning officer had failed to communicate to members Aldergate's concerns about changes to the road levels, which could affect access to its development.
Aldergate said the council also failed to impose conditions that would allow it to know what the new levels would be so it could meet acceptable gradients for access under the Disability Discrimination Act 2005.
Mansfield District Council granted outline permission for Stockwell Gate last year and also gave support to the two-storey bus station on the condition that it did not prejudice the scheme.
A Nottinghamshire spokesman said the judgement is likely to delay the project up to three months while the planning committee reconsiders the application. He added: "A new bus station is crucial to the regeneration of Mansfield town centre, allowing redevelopment of the existing station site."