The two readings are essentially identical, though the latter is arguably more explicit in negating all fear. Both could be understood to mean that those people will not experience fear; an alternative understanding is that there need be no fear concerning them.
He has revealed to you ˹O Prophet˺ the Book in truth, confirming what came before it, as He revealed the Torah and the Gospel
Uitleg
The two readings are essentially identical, though the latter is arguably more explicit in negating all fear. Both could be understood to mean that those people will not experience fear; an alternative understanding is that there need be no fear concerning them.