The 57-year-old wants the teenager to live with her in the US
Singer Madonna can bring legal action launched in England over the future of her 15-year-old son to an end, a British High Court judge has ruled.
The singer is in a custody dispute with her ex-husband Guy Ritchie over where Rocco should live.
The 57-year-old wants the teenager to return to live with her in the US after he remained in London with his father after a visit.
Mr Justice MacDonald ruled that the English proceedings could be halted.
The judge analysed the latest round of the dispute at a private hearing in the Family Division of the High Court in London earlier this month.
He was asked to decide whether he should allow English proceedings to draw to a close - or whether he should make decisions about Rocco's welfare.
No-one involved was in court when the ruling was handed down, but Mr Justice MacDonald urged Madonna and Mr Ritchie to try to settle the dispute.
He said the youngster was a "very great credit" to his parents and urged Madonna and Ritchie to spend time enjoying his company.
Lawyers have told him that both had outlined proposals for negotiation.
More court hearings are expected to be held in New York.
"At the root of these proceedings...is a temporary breakdown in trust," said the judge in his ruling.
"For all the media coverage, comment and analysis, this is a case born out of circumstances that arise for countless separated parents the world over".
He added: "I renew, one final time, my plea for the parents to seek, and to find, an amicable resolution to the dispute between them".
When Madonna and Ritchie divorced in 2008, it was agreed that Rocco would live with his mother.
However, while she has been on a global tour in recent months Rocco has been pictured in London with his father, his wife Jacqui Ainsley and their three children.