After separating in 2005, R. Kelly and his now-ex-wife Andrea finalized their divorce on Thursday, according to UsMagazine.com.

The couple, who had been married for 11 years, have two daughters and a son together. "The parties have reached an amicable resolution concerning all issues related to their marriage, and will share joint custody of their three children," their Chicago-based lawyers 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."

Despite this "amicable" split, in the fall of 2005, Andrea Kelly, a former backup dancer for the Chicago-based R&B star, went to court to obtain an emergency restraining order against the singer, claiming physical abuse, harassment, stalking and interfering with her personal liberty. She wrote in her petition that she didn't want any contact with Kelly "at all, by any means." At the time, Andrea had moved out of the home the couple shared, and R. Kelly released a statement saying, "My wife and I had a heated argument, and we are now in the process of working it out." The protection order was later rescinded.

The initial split came less than a year after Kelly saw charges dropped against him in Florida for having sex with an underage girl, but amid a long-running court case in Chicago in which Kelly was accused of child pornography based on a widely-distributed videotapethat allegedly showed the singer having sex with an under age girl. He was acquitted of those charges last year.

Kelly was also briefly married to then 15-year-old singer Aaliyah for five months, but that marriage was reportedly annulled in February 1995.