Mel B has withdrawn her domestic violence restraining order against her estranged husband.

The former Spice Girls star filed for divorce from Stephen Belafonte earlier this year amid claims he had been abusive, and after months of legal negotiations, they have now reached an agreement which is likely to mean the 42-year-old producer can see their six-year-old daughter Madison.

According to TMZ, the 'America's Got Talent' star - who also has daughters Phoenix, 18, and Angel, 10, from past relationships - and Stephen have also settled a portion of their property division.

However, there has been no resolution of the issues surrounding their former nanny Lorraine Gilles, who Mel previously claimed had aborted Stephen's baby, while the ex-employee alleged the 42-year-old singer had pressured her into having threesomes with her and her spouse, but they are said to be close to making an agreement.

Mel claimed last month she had been ''drugged'' throughout her 10-year marriage to Stephen.

Philip Cohen, one of Stephen's lawyers, said: ''Miss Brown now takes the position she was drugged by Mr Belafonte throughout the course of the marriage.''

Meanwhile, the 'Stop' singer's mother Andrea - who was estranged from her daughter for much of her marriage - recently admitted she was distraught because she had ''failed to protect'' Mel from her spouse.

Alongside a broken heart emoji, she tweeted: ''Cried so much lately Melanie was with an abuser but the extent could never imagine ... I 2 failed to protect her. (sic)''

It comes after Mel claimed she was drugged for most of her 10-year marriage to Stephen.