Legal documents showed that Robin and Paula, who are parents to five-year-old son Julian, have reached a settlement regarding their property and custody of their child.
Paula, 39, filed for divorce last October and requested joint legal and physical custody of the couple's son. The outcome of this part of the agreement was not made public in the court documents.
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Paula Patton filed for divorce from Robin Thicke last October
The former couple announced their separation in February 2014, after 21 years together and almost nine years of marriage. Robin and Paula, who first met at an under-21 nightclub as teenagers, released a statement at the time saying that their decision was mutual and they would remain "best friends".
Shortly after their separation, the Blurred Lines singer made no secret of his desire to win his high school sweetheart back. At one concert in Virginia, Robin told fans that his estranged wife was "a good woman".
The American-Canadian singer also penned his latest album Paula in honour of the mother of his child. The lead single Get Her Back was released in May, just three months after the couple split.
Paula Patton revealed she had "come out stronger" after a "challenging" year
Paula, meanwhile, recently discussed how the past year had been a "challenging" one. Speaking on Good Morning America, Paula said: "I mean, the honest truth is, it has been challenging. But it's been a year of growth, lots of healing, learning about all new things. I've come out of it stronger."
The actress added: "I feel like everything happens for a reason. And then you have to move on and grow from there." Paula also said that her young son Julian had helped her.
"The thing is, you can't wallow in sadness or stay in bed when you have a child. And they're so full of life and wonder. And he brings me so much joy," she revealed.
Earlier this month Robin Thicke was accused of breaching the copyright of a Marvin Gaye song
The past month has not been a good one for Robin. Last week a jury in America ruled that he and fellow star Pharrell Williams – the writers of hit Blurred Lines – copied a track by Marvin Gaye and must pay the late singer's family £4.8million in damages.
Jurors decided that Pharrell and Robin's 2013 song had breached the copyright of Marvin's 1977 single Got To Give It Up.