CSheen053108_01_custody.jpgAfter two weeks of back-and-forth negotiations, Charlie Sheen and his ex-wife Brooke Mueller have reached a custody deal for their twin boys Max and Bob.

"Brooke and Charlie have reached an agreement that resolves their differences," their attorneys said in a joint statement Thursday. "For the benefit of the children, the terms of their agreement will not be disclosed. They ask the public for privacy on this matter."

Mueller was granted a restraining order against Sheen last week that temporarily stripped the actor of all custody rights. Sheen promptly released a home video of his farewell to the boys, strapping them in the car seats of their nanny's car.

In the restraining order papers, Mueller noted her concern for the boys' safety when with their father, raising concerns Sheen was mentally unstable.