R. Kelly and his wife Andrea's divorce was finalized Thursday after 11 years of marriage, lawyers for the former couple confirm to Usmagazine.com.

"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."

The couple separated in the fall of 2005, and Andrea went to court for an emergency restraining order, claiming that he had physically abused, harassed and stalked her, according to MTV News.

(Kelly had faced mounting legal troubles -- the year before, charges were dropped against him in Florida for having sex with an underaged girl. In June 2008, the R&B singer was acquitted from child pornography charges after allegedly appearing in a raunchy video with another underage girl.)

Andrea told Essence magazine in 2007 that she and Kelly "have a bond that we will have for the rest of our lives because we have children...That we filed for divorce is not that important."

They have two daughters and a son together.