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The couple, who confirmed their split in June, released a statement on Tuesday following a marathon 12-hour meeting with their lawyers which ended in the early hours.
Shakira is set to move to Miami next year with her two children by Gerard Pique as part of an agreement thrashed out between the warring couple.
After making an emotional speech following Barcelona's win against Almeria at the Nou Camp, the retired star was seen being consoled by his new girlfriend, 23.
The singer 45, wore ripped jeans and a grey and black tie-dye t-shirt, adding a black cap and sunglasses to keep a low profile as she took care of her sons Milan, nine, and Sasha, seven.
The formerly married couple announced their split in June, after 11 years together and sharing two children.