They said neither of them intended to cause the other any physical or emotional harm.
In a joint statement, Johnny Depp and Amber Heard acknowledged their relationship had been volatile.
“Our relationship was intensely passionate and at times volatile, but always bound by love,” it read.
Lawyers for Amber Heard filed a motion on August 16 to dismiss a temporary restraining order against Johnny Depp.
News of the divorce settlement comes just a day before a hearing regarding the restraining order was due to begin.
The temporary order had ordered Johnny Depp not to contact Amber Heard, and stay 300 feet away from her, after she accused him of striking her and throwing a mobile phone during a fight earlier this year.
Johnny Depp, 53, had always denied abuse allegations made by his former wife.
Amber Heard, 30, filed for divorce in May and obtained the temporary restraining order against Johnny Depp a few days later.
Johnny Depp and Amber Heard, who were married for just under 18 months, also came to a financial settlement as part of their divorce.
“Neither party has made false accusations for financial gain. There was never any intent of physical or emotional harm,” the joint statement continued.
The statement said Amber Heard would be donating proceeds from the divorce settlement to an undisclosed charity.
Neither of the actors will comment further on the case.
Johnny Depp has two children from a previous relationship with Vanessa Paradis.
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