Tyrese Gibson is celebrating after being granted 50/50 custody of his 10-year-old daughter, Shayla, in his tumultuous court battle with ex-wife Norma Mitchell Gibson
Credit: Jesse Grant/Getty Images for NBCUniversal

Tyrese Gibson is celebrating after being granted 50/50 custody of his 10-year-old daughter in his tumultuous court battle with ex-wife Norma Mitchell Gibson.

The 38-year-old Fast & Furious star posted an emotional gallery of photos of himself and daughter Shayla to Instagram on Saturday, explaining in the caption that he ruling was not a win for him, it was “a win for our daughter, Shayla, who unfortunately has been exposed to tension, private and public embarrassment and growing up and feeling torn between [two] parents who are no longer married.”

“It is a win because she gets to spend equal time with both of her parents in joint legal custody while she continues to grow in a happy and healthy environment,” Gibson wrote. “This has always been and will continue to be my priority.”

On Friday, a judge awarded Gibson 50/50 joint custody of his daughter beginning in January and denied his ex-wife’s request for a permanent restraining order, Gibson’s rep told PEOPLE. The actor’s rep also confirmed that the former couple have worked out a visitation schedule for the holidays.

Norma’s rep did not immediately respond to PEOPLE’s request for comment.

The Los Angeles Department of Children and Family Services initially launched an investigation into Gibson after Norma — who was married to the actor from 2007 to 2009 — accused Gibson of abusing their daughter on Aug. 19, alleging in court documents that the actor “pushed our daughter to the ground, pinned her face down, put his knees on her back, grabbed her hands with one arm and beat her with the other.” She also alleged in court documents that her ex hit Shayla “between 12 and 16 times,” leading the child to allegedly later tell her mother that she couldn’t sit down due to pain.

In court documents obtained by PEOPLE in September, physical and legal custody of Shayla was temporarily granted to Norma and Gibson was ordered to stay 100 yards away from both of them as well as Norma’s home.

Gibson’s rep previously confirmed reports to PEOPLE that child’s services had closed their investigation and would not be seeking criminal charges. Gibson previously told PEOPLE in a statement that Norma’s allegations were “hurtful lies.”

In October, Norma filed a police report against Gibson after he hired a plane to fly a banner directed at Shayla that read “No matter what, daddy loves you Shayla” over his daughter’s school — an act she claimed violated her temporary restraining order against him. Gibson later admitted to flying the banner, sharing several photos of himself and Shayla to Instagram with the caption: “I wanted the banner to be longer but it’s was too expensive.”

In a statement to PEOPLE, Norma’s attorney, Aleen Laura Khanjian, said in response to the banner: “This disturbing behavior is a complete violation of the restraining order. It is a reflection of Mr. Gibson’s erratic state of mind.”

Khanjian continued, “Simply put, he doesn’t respect boundaries. If he did, this restraining order would not have been necessary. At the end of the day, we simply want him to get the help he needs so that he can become a stable, solid and secure presence in his daughter’s life.”

RELATED VIDEO: Tyrese Gibson Admits to Flying Banner Over Daughter’s School Despite Restraining Order

On his Instagram post Saturday, Gibson addressed a lot of the previous allegations made against him.

“For 10 years I have been the best father I could be, all while quietly being on the receiving end of constant toxic false accusations by the mother of my child and of course all the while being thrusted into unexpected social media storms all while trying to fight for my career and stay afloat financially,” he said. “Today I am proud that the courts have put an end to Norma’s toxic nonsense, declaring that NONE of her accusations for the last 10 years against me are credible.”

“I did not break any laws; I did not harass anyone; and most important I never engaged in violent or abusive behavior,” Gibson continued. “The physical and emotional violence that Norma publicly accused of were all false and ruled to have no merit, no evidence, and was unsubstantiated in a court of law.”

He concluded his post by thanking the “real fathers out there” who encouraged him; his attorney Terry Ross who “brought my truth to light in supporting me”; and his wife Samantha Gibson and his team who “wanted nothing more than for this 10 year nightmare of false claims and accusations to end.”

“God delivered on his promise that if I stand on my truth and don’t bend he will show up for me. Today is the first day of the rest of my life with MY FAMILY, my FRIENDS, my fans and supporters and my business associates and of course my immediate TEAM,” Gibson wrote. “God bless you….. broken but I will heal from this.”

Tyrese Gibson
| Credit: Tyrese Gibson/Instagram

Gibson has posted about his ongoing custody battle in recent weeks on social media. Last week, he shared a video montage on his Instagram account that showed photos of celebrities like Kanye West, Will Smith, Michael Jacksonand Dwayne “The Rock” Johnson with their kids as Luther Vandross’ “Dance with my Father” played in the background.

“Don’t take my baby. This is all I got. Don’t take my baby, okay?” he said in the Facebook live clip, sobbing. “I’ve been away from my baby for two months. I just want my baby and no one’s listening cause no one’s in the courtroom.”

Hours later, he shared another video on Instagram assuring fans he was doing well.

Norma claimed in her September declaration that Gibson was diagnosed with bipolar disorder as well as manic behavior by three psychotherapists — which she said he denied. She expressed she was “deeply concerned” about the actor taking their daughter to Dubai, where he has allegedly threatened to travel in the past — and claimed the he did not return their daughter’s passport to her when she requested. She also claimed the actor withheld contact between her and Shayla while their daughter stayed with him.