Tyrese Gibson participates in the BUILD Speaker Series to discuss upcoming "The Fate of the Furious" film at AOL Studios in New York. Picture: AP

Tyrese Gibson has hailed his joint custody agreement of daughter Shayla as a win for all fathers, after a bitter legal dispute with his ex-wife.

The 'Fast and the Furious' star has been fighting to maintain custody of 10-year-old Shayla in a long and difficult court case against his ex-wife Norma Gibson, who had alleged that Tyrese had been physically violent to their daughter.

READ: Tyrese Gibson gets joint custody of daughter

And after the star was awarded joint custody last week in a court hearing which denied Norma's filing for a restraining order, he has taken to Instagram to share his thoughts on the process.

#Papz got us #DaddyDaughterSeason #UAE and #AFRICA I’m on my way! #ShaylaRocks.com Friday was not a win for me, it is a win for our daughter, Shayla. Who unfortunately has been exposed to tension, private and public embarrassment and growing up and feeling torn between 2 parents who are no longer married. It is a win because she gets to spend equal time with both of her parents in joint legal custody while she continues to grow in a happy and healthy environment – this has always been and will continue to be my priority. I hope all of the fathers feel encouraged by this cause if was the real “Fathers” out there who reached out and kept me encouraged along the way and for that I can’t thank you enough... - For 10 years I have been the best father I could be, all while quietly being on the receiving end of constant toxic false accusations by the mother of my child. And of course all the while being thrusted into unexpected social media storms all while trying to fight for my career and stay afloat financially. Today I am proud that the courts have put an end to Norma’s toxic nonsense, declaring that NONE of her accusations for the last 10 years against me are credible. I did not break any laws; I did not harass anyone; and most important I never engaged in violent or abusive behavior. The physical and emotional violence that Norma publicly accused of were all false and ruled to have no merit, no evidence, and was unsubstantiated in a court of law. I am forever indebted to my attorney Terry Ross who brought my truth to light in supporting me, my wife Samantha and my daughter Shayla and my team who wanted nothing more than for this 10 year nightmare of false claims and accusations to end....... God delivered on his promise that if I stand on my truth and don’t bend he will show up for me - Today is the first day of the rest of my life with MY FAMILY, my FRIENDS, my fans and supporters and my business associates and of course my immediate TEAM - God bless you..... broken but I will heal from this #ShaylaRocks.com go there now please!!!!! Google #ParentingAlianation and #PathologicalEnmeshment

A post shared by TYRESE (@tyrese) on

He wrote in a lengthy caption: "Friday was not a win for me, it is a win for our daughter, Shayla. Who unfortunately has been exposed to tension, private and public embarrassment and growing up and feeling torn between 2 parents who are no longer married......

"It is a win because she gets to spend equal time with both of her parents in joint legal custody while she continues to grow in a happy and healthy environment - this has always been and will continue to be my priority. (sic)"

Tyrese - who married second wife Samantha Lee in February this year - then hailed his custody agreement as a win for all fathers fighting to remain in their children's lives.

He continued: "I hope all of the fathers feel encouraged by this cause if was the real "Fathers" out there who reached out and kept me encouraged along the way and for that I can't thank you enough... - For 10 years I have been the best father I could be, all while quietly being on the receiving end of constant toxic false accusations by the mother of my child. And of course all the while being thrusted into unexpected social media storms all while trying to fight for my career and stay afloat financially.

"Today is the first day of the rest of my life with MY FAMILY, my FRIENDS, my fans and supporters and my business associates and of course my immediate TEAM [sic]."

The 38-year-old rapper and actor will reportedly share custody of Shayla with her mother 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, the 'Transformers' star 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.