Here’s another why to do this:
add_filter('acf_the_content', 'shortcode_empty_paragraph_fix');
function shortcode_empty_paragraph_fix($content) {
$array = array (
'<p>[' => '[',
']</p>' => ']',
']<br />' => ']'
);
$content = strtr($content, $array);
return $content;
}