Kelsey Grammer and ex-wife Camille have settled their child custody case.

The former 'Frasier' actor and 'The Real Housewives of Beverly Hills' star - who split in 2010 after 13 years of marriage - have agreed joint custody of their daughter, Mason, 10, and seven-year-old son Jude.

According to court documents obtained by TMZ.com, the pair's case has been taken off the court's calendar and Kelsey will reportedly be allowed "meaningful contact" with his two children, while they will continue to live in Los Angeles with Camille.

Kelsey and Camille reached a temporary custody agreement last July, but this settlement is thought to be permanent.

Last year, the 57-year-old star - who married fourth wife Kayte Walsh in February 2011 - asked for the children to be split up and he requested the custody of Jude, while Camille took care of Mason.

But Camille argued against Kelsey's legal letter proposal to enroll Jude in a Chicago school, and she filed documents claiming a move would disrupt his education.

Kelsey also has two daughters, Spencer, 28, and 19-year-old Kandace, from previous relationships - and he revealed earlier this year that he and Kayte are expecting twins.

He said: "I'm really looking forward to meeting these new arrivals in our lives."