Tyrese Gibson has been granted joint custody of his daughter. Picture: Instagram

Tyrese Gibson has been granted joint custody of his 10-year-old daughter Shayla, as his bitter court battle with ex-wife Norma comes to an end.

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 a judge denied Norma's request for a permanent document, and granted the 'Fast and Furious' star joint custody of Shayla.

While waiting on the judgement I was broken and on edge and I overheard NoRMA and her lawyer in the courts room casually discussing getting their nails done?? They’ve been in court and have had no time for Nails?? Really?? That casual.?? Me without Shayla for 80+ days and it’s about your nails????? Michale Moore, Netflix, Tim Cooke of Apple - I got over 400 hours of logged and captured footage this will be bigger than Avatar cause “Fathers” and the lack of support in the courts is a universal issue - go to My FaceBook.com/TYRESE I just posted a clip you must see now - TMZ most will never put up a post to say thank you but I will you have given a well balanced and TRUE sequence of what has taken place every step of the way..... Today is the first day of my life....... 100% exonerated of claims and accusations that has followed me for the last 10 years......... go to #ShaylaRocks.com and #VoltronTravel.com download the phone app called ClearVue in the App Store got to my FaceBook.com/TYRESE no pride no ego today is the start of me turning me and my families life around - thank you Jesus for delivering on what you promised to stand on TRUTH DON’t bend and don’t accept what they offered.... NoRMA ask yourself since you hate SO much why are you still holding onto my last name???? You’re NOT a Gibson your name is NORMA MITCHELL - There are only 3 real Gibson’s from my side.... Shayla Gibson, TYRESE Gibson and my real wife Samantha Lee Gibson - period #LevelUp For those of you who counted me out.......... that’s cool........ Clearly you can’t count, that Capricorn bounce back spirit is very real...... Seeds can’t grow until their #buried deep in the ground - I made some choices and certain choices were made that tried to bury me......... I feel better, stronger and blessed and look forward to many many great things........ this was a rough season but these seasons don’t last forever.......... At the end of every storm comes a rainbow you just have to look UP for your blessings and go get it!!!!!! #Focussed #Ambition #Capricorn #NeverDownForLong

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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.