“Our relationship was intensely passionate and at times volatile, but always bound by love,” says a joint statement.
“Neither party has made false accusations for financial gain. There was never any intent of physical or emotional harm.”
The 30-year-old filed the restraining order in May, accusing Depp of hitting her during a fight at their Los Angeles apartment that month.
She accused him of “excessive emotional, verbal and physical abuse” throughout their relationship.
Depp denied her allegation and police said they found no evidence of a crime.
A hearing on the case was to begin on Wednesday.
The divorce papers sought “spousal support” from the Oscar-nominated star, whose wealth is estimated by Celebritynetworth.com at $400m (£307m).
Source: Amber Heard Drops Assault Claim In Johnny Depp Divorce Settlement
