According to a source familiar with the proceedings, the former couple will resolve the case privately.
The actor and the actress also released a joint statement regarding their split.
"Our relationship was intensely passionate and at times volatile, but always bound by love. Neither party has made false accusations for financial gain. There was never any intent of physical or emotional harm," the statement reads. "Amber wishes the best for Johnny in the future. Amber will be donating financial proceeds from the divorce to a charity. There will be no further public statements about this matter."
According to paperwork obtained by ABC News, Heard's attorneys also filed a dismissal of her temporary restraining order.
In May, Heard, 30, filed for divorce from Depp, 53, who filed his own petition two days later. Then, the actress secured a restraining order against her estranged husband, claiming that during a fight the previous weekend, he threw a cellphone at her face, pulled her hair and struck her. She submitted pictures of herself with a bruised face as evidence.
Depp's attorney, Laura Wasser, filed an opposition, claiming that the actress "is attempting to secure a premature financial resolution by alleging abuse."
Meanwhile, a Los Angeles Police Department media representative confirmed to ABC News that authorities did respond to the actors' home the night of the alleged incident, but found "no evidence of a crime."
"A crime did not occur so the officers left the scene and left a business card," the representative concluded.
Heard's legal team however, explained that Heard had declined to give a statement to police because she wanted to protect her privacy and Depp's. That was also why, the lawyers continued, they did not serve Depp with a divorce petition at the premiere of his film, "Alice Through the Looking Glass."
"We took the high road. Unfortunately, Johnny's team immediately went to the press and began viciously attacking Amber’s character," they said. "Amber is simply a victim of domestic violence, and none of her actions are motivated by money. Amber is a brave and financially independent woman who is showing the courage of her convictions by doing the right thing against Johnny's relentless army of lawyers and surrogates."
"My dad is the sweetest most loving person I know," she wrote. "He's been nothing but a wonderful father to my little brother and I, and everyone who knows him would say the same."
Heard and Depp were married for 15 months before she filed for divorce. The date of separation was listed as the day after their alleged fight, which took place May 22.
Reps for both stars and a lawyer for Depp did not immediately respond to requests for comment by ABC News.
Editor’s Note: An earlier version of this story included a statement from Amber Heard’s lawyers, Samantha F. Spector and Joseph P. Koenig, that has since been retracted. In a second statement, Spector said: “The statement made today on behalf of myself and Joseph Koenig was made without the knowledge or approval of Amber Heard. The statement is untrue and we retract it, without qualification. My assertion that Amber Heard has been vindicated in the court of public opinion is not true. We regret the error and apologize to Johnny Depp.”