Madonna has reached an agreement in the battle with ex-husband Guy Ritchie over custody of their children.

Their two children, Rocco, eight, and adopted David, three, will live in New York with her and Lourdes, 12, her daughter from a previous relationship, receiving regular visits from Ritchie.

The couple divorced late last year after six years of marriage and they quickly thrashed out a settlement in the British courts - reportedly agreeing to share the care of their two children Rocco, eight, and adopted David, three.

Madonna, who moved to New York, took the case to a court over there and asked a judge to approve the deal and make the custody arrangements legal in the U.S.

A hearing at Manhattan Supreme Court yesterday saw the deal finalised which also see the children spending time in the U.K. during school holidays.