After a long, drawn-out custody battle, Tyrese Gibson can finally breathe a sigh of relief. The Fast and Furious star has been battling his ex-wife and baby mama Norma Gibson over custody of their 10-year-old daughter Shayla — and Norma even accused Tyrese of abusing their daughter and filed for a restraining order against him. But months in court, a judge ruled in Tyrese’s favor and on Friday, Nov. 17, he took to Instagram to release a statement about the ruling.

“Today is 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 [two] parents who are no longer married,” the 38-year-old wrote. “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.”

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Today is 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

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The judge denied Norma’s request for a restraining order against her ex-husband, the actor’s rep revealed in a statement to People. Tyrese was awarded 50/50 custody of Shayla, and the new custody arrangement will begin in January. In the meantime, the exes have been able to work out a visitation agreement so that Tyrese will be able to spend time with his daughter during the 2017 holiday season.

Tyrese and Norma were married between 2007 and 2009, and their legal issues started back in August after she accused her ex-husband of physically abusing their daughter. Tyrese had allegedly hit Shayla “between 12 to 16 times,” according to court documents obtained by People, and “pushed [Shayla] to the ground, pinned her face down, put his knees on her back, grabbed her hands with one arm and beat her with the other.”

Norma was awarded temporary physical and legal custody of Shayla in September and child services launched an investigation against Tyrese, but the child abuse case was closed two weeks ago after the abuse allegations went unfounded.