Actors Charlie Sheen and Denise Richards, who divorced in November 2006, have finally settled their custody battle. The estranged former spouses have been fighting over custody of their daughters, three-year-old Sam and two-year-old Lola, since early 2006.

While details of the agreement have not been revealed to the public, both Sheen and Richards are reportedly very pleased with the outcome.

"It is true that an agreement has been reached between the parties regarding their children," E! News quoted Richards' attorney, Jill Fritzo, as saying on March 7. "Denise is happy with the agreement and believes that it is in the best interests of their children.

"Although the parties have agreed that neither one will discuss the specific terms of the agreement," Fritzo added, "Denise is satisfied that the agreement has dealt with all of her concerns."

As recently as September, Richards, 37, was accusing Sheen of abusive behavior toward the children as well as drug, sex, and gambling addiction. She petitioned to halt all the children's overnight visits at their father's home and requested a custody evaluation. Since then, Sheen has denied tabloid rumors that he had bowed to all of his ex's demands. Sheen, 42, also objected to Richards' plans to include Sam and Lola in an upcoming E! reality TV series about her -- calling it "greedy, vain, and exploitative", according to the Sydney Morning Herald -- but Richards won her right to do so on January 25.

Sheen and Richards married in June 2002, after having met on a movie set. Richards filed for divorce in March 2005, but the couple attempted reconciliation. She announced the following January that she was going ahead with the divorce.

Sheen, meanwhile, is still starring in the sitcom Two and a Half Men. He is also engaged to real-estate investor Brooke Mueller, whom he plans to marry this summer.

For a Chicago attorney's advice on how to help your own custody case, click here.