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In court records, Heard wrote that Depp was "verbally and physically abusive" over the course of their relationship and claimed he struggled with a short temper and paranoia, issues that she said were exacerbated by his drug and alcohol use.
"I endured excessive emotional, verbal and physical abuse from Johnny, which has included angry, hostile, humiliating and threatening assaults to me whenever I questioned his authority or disagreed with him," she wrote. "As Johnny's paranoia, delusions and aggression increased throughout our relationship, so has my awareness of his continued substance abuse."
>> Related: Amber Heard's friend describes Johnny Depp's alleged abuse in essay
Heard withdrew the abuse allegations Tuesday.
Details of the settlement were not immediately available.
"Amber wishes the best for Johnny in the future," the pair said in their joint statement. "Amber will be donating financial proceeds from the divorce to a charity."
The pair married in February 2015 after a three-year courtship. They did not have children together. It was Depp's second marriage and Heard's first.
The Associated Press contributed to this report.