The 'Modern Family' actress - who plays Alex Dunphy in the series - will remain in the care of her older sister Shanelle Grey, who took on temporary custody of the 16-year-old star in 2012 after she claimed her mother, Chrisoula Workman, was physically and mentally abusing her.
At a hearing yesterday (05.05.14), Chrisoula agreed Ariel could continue living with her sister - if she watched a video montage of family photographs in court.
The young actress and other members of her family - including Chrisoula and Shanelle - sobbed as the video played, and then Superior Court Judge Daniel Murphy signed off on the custody agreement.
The judge advised it would be up to Ariel to decide if and when she would visit her mother, but he would keep jurisdiction over her care until she turns 18, and her father Glenn workman will remain in control of her finances.
After the hearing, Chrisoula - who vehemently denies abusing her daughter - and Shanelle issued a joint statement.
They said: "The family has moved beyond the conflict."
The statement also thanked well-wishers and said the family are working toward reconciliation.
Since moving in with her sister, Ariel has claimed she is much happier.
She said previously: "My life is definitely more normal - and that'll help me grow up like I'm supposed to."