Madonna's 16-year-old son Rocco will live with dad Guy Ritchie

Madonna and ex-husband Guy Ritchie have settled their court battle over custody of their 16-year-old son Rocco.

Ritchie's lawyer, Peter Bronstein, said the teenager will continue to live with his father in London.

The Material Girl singer and her ex-husband are believed to have come to an out-of-court arrangement.

They were due to appear before a judge at Manhattan Supreme Court on Wednesday, but it was adjourned hours before.

A spokesman for the New York State court system confirmed the case was officially settled.

Madonna, 58, and Ritchie, 47, have been in a legal fight over their son since December, when Rocco ignored a court order to return to his mother in New York and stayed in London with his dad.

Madonna and Guy Ritchie with there then son four-month-old Rocco. Credit: Reuters

The couple has been urged by both a New York and British judge to find an amicable resolution for Rocco's sake.

Madonna opened up about the situation on stage in Australia during her Rebel Heart tour.

She told the audience that: "There is no love stronger than a mother for her son. If I talk about him too much I might cry."

The singer married Richie in 2000 and was granted custody of Rocco after the couple divorced in 2008.

Madonna and Ritchie also have an adopted son David Banda who was born in Malawi.

Ritchie is now married to British model Jacqui Ainsley, with whom he has three children.