Tyrese Gibson has been granted joint custody of his daughter.

The 38-year-old rapper and actor had been locked in a bitter custody battle with his ex-wife Norma Gibson, who was seeking to obtain a permanent restraining order against him after alleging that he had pushed their 10-year-old daughter Shayla to the ground and beat her in a rage.

But after a court hearing on Friday (17.11.17) a judge denied Norma's request for a permanent document, and granted the 'Fast and Furious' star joint custody of Shayla.

According to TMZ.com, both Tyrese and Norma will split custody of Shayla 50/50, in an agreement which is set to begin in January.

Earlier this month, Tyrese was forced to go it alone in the court, after his former attorney Terry Levich Ross, filed documents stating a substitution of attorney in the case, meaning Tyrese was left to make a case for himself.

And last month, Tyrese was granted a monitored six-hour visit with his daughter, which marked the first time the star had been allowed to see her in two months.

Meanwhile, the star - who was married to Norma from 2007 to 2009 - has previously filed documents to have the restraining order application thrown out, in which he claimed he believes Shayla had been coached into telling a story while under her mother's care.

Norma claimed Tyrese should be kept away from them both as a result of his alleged abuse, but he insists the accusations are false, and his former spouse is just bitter because of his marriage to social worker Samantha Lee Gibson, which took place earlier this year.

The 'Transformers' star insisted that the only recent domestic violence incident involving them was when Norma texted him saying she wanted to have his fingers cut off, something which she previously admitted in a court declaration.