The ex-Spice Girl had a temporary restraining order on him over domestic violence claims which she has now dropped in a divorce deal.
Film producer Belafonte, 42, shared his joy on Instagram saying: "First night out with my amazing daughter in 8 months and I felt like god gave us beautiful sunset to share!! #blessed"
He later posted a video of her in wig, moustache and chest hairs, writing: "My Maddy Bears had me dying last night!!!! My sister Hannah was playing dress up."
After the start of a deal was worked out last week, a source close to Belafonte said the agreement included "substantial custodial time" with their six-year-old daughter.
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