According to documents obtained by The Blast, the former couple reached an agreement on Friday, November 22.
The pair announced their split in September 2017, after eight years of marriage.
"With absolute love and respect we decided to separate as a couple earlier this year," the duo said at the time in a joint statement. "To give our family the best opportunity to adjust, we wanted to keep this a private matter before sharing it with the public."
Fergie subsequently filed for divorce in May 2019. The two share six-year-old son Axl.