The pair exchanged friendly kisses after the hearing in Manhattan that was triggered by Arpad who sued Uma for more time with their daughter, reported Female First.
Manhattan Supreme Court Justice Matthew Cooper praised the former couple for working out an amicable settlement, saying, "Everybody compromised a bit... I think it was all done to make one person happy and that one person is Luna.
"Both parties worked very hard to come up with an agreement that's in the best interests of your daughter.
The on-and-off couple, who previously split before reconciling, welcomed Luna in 2012 but called off their engagement again last year.
Thurman has a son and daughter from her marriage to Ethan Hawke, who she divorced in 2005, while Arpad has two sons with his ex Elle Macpherson.