TMZ said Brown, 21, was in court when the judge downgraded the order, allowing Brown to have contact with Rihanna, 23, as long as he does not harass, annoy or molest her.
Rihanna's attorney told the judge the singer has no objection to the new order. She was not in court Tuesday, TMZ said.
Brown pleaded guilty to assaulting Rihanna in February 2009.
In addition to having to abide by the restraining order for about two years, Brown was ordered to go for counseling and to do community service work.