Robert De Niro and his estranged wife reach custody deal over their ...

Robert De Niro says he's 'feeling great' after he and his estranged wife reach custody deal over their eight-year-old daughter and avoid a trial Robert De Niro and Grace Hightower managed to avoid a custody trial by coming to the agreement  De Niro said that he felt 'great' about the agreement  The couple announced the end of their 21-year marriage in November 2018, filing for divorce the following month In the filing, Robert asked a judge for visitation with his daughter, Helen Grace, whom he and Grace welcomed via a surrogate in 2011 He's tried repeatedly to keep any details of the divorce under wraps 

By Matthew Wright For Dailymail.com

Published: 16:48 GMT, 15 February 2020 | Updated: 16:48 GMT, 15 February 2020

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Judge Matthew Cooper said during the Friday hearing in the Manhattan Supreme Court that the pair managed to avoid a custody trial by coming to the agreement over their daughter Helen Grace

Robert De Niro and his estranged wife Grace Hightower worked out a custody deal for their eight-year-old daughter on Valentines Day in Manhattan. 

Judge Matthew Cooper said during the Friday hearing in the Manhattan Supreme Court that the pair managed to avoid a custody trial by coming to the agreement, the New York Daily News reports. 

'I have in my hand a parenting agreement that has been executed by the parties,' Cooper said in court documents. 'It will result in a plan by which the parents will move forward, and as I've said before, cooperatively raise their daughter.' 

De Niro said that he felt 'great' about the agreement. 

The couple announced the end of their 21-year marriage in November 2018, filing for divorce the following month.

In the filing, Robert asked a judge for visitation with his

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