The amount was disclosed in documents filed in New York's Westchester County, where comedian James McNair lived until the June 7 accident.
McNair died when a Wal-Mart truck hit a van carrying him, Morgan and others.
Morgan's lawyer says the "Saturday Night Live" and "30 Rock" star suffered a traumatic brain injury.
The McNair family lawyer announced a settlement in January, but the amount was said to be confidential. However, he disclosed the USD 10 million figure in court papers supporting his request for nearly USD 3 million in legal fees. Calls to Wal-Mart were not immediately returned.