The divorce was finalized Thursday, Usmagazine.com reported.

"The parties have reached an amicable resolution concerning all issues related to their marriage, and will share joint custody of their three children," the former couple's attorneys said in a joint statement. "The details of this agreement will remain confidential and the family requests that their privacy be respected during this time."

The pair separated in the fall of 2005.

Kelly was acquitted of child pornography charges last summer in a high-profile, long-delayed trial. He had been accused of videotaping himself having sex with a young teen-age girl.