The former Two and a Half Men star, who divorced Richards in 2006, met with the former Bond girl at a Los Angeles law office on Tuesday (10May11) to negotiate his desire for weekend visiting rights with daughters Sam, seven, and Lola, five, reports TMZ.com.
However, Richards allegedly rejected his plea because of her concerns about her children's welfare.
Sheen, who has become a tabloid regular in recent months thanks to his bizarre behaviour, recently lost his bid for full custody of the twin boys he shares with estranged wife Brooke Mueller.
The matter is not expected to be taken to court.
"I am teaching them (twin sons) words, because they're speaking now. I'm teaching them the word 'rehab' so they always know where their mum is." Troubled actor Charlie Sheen pokes fun at his ex-wife Brooke Mueller following her previous stints at a treatment facility.
The troubled actor's marriage hit headlines back in 2009 when he was arrested on Christmas Day (25Dec09) following a bust-up with his wife. He subsequently pleaded guilty to a charge of misdemeanour assault and was handed a suspended jail term.
The couple split, and Mueller, mother of the star's twin sons, filed for divorce in January last year (10) leading to months of legal wrangling as they battled for custody of the boys.
Sheen and Mueller have now reportedly reached a settlement agreement, paving the way for the finalisation of their divorce on Monday (02May11), according to TMZ.com.
The website reports Sheen will pay Mueller $55,000 (£34,375) a month in child support for Bob and Max, two, as well as a lump sum of $757,698 (£473, 561). Sheen has been allowed to keep the family home in Los Angeles, but will reportedly pay Mueller $1 million (£625,000) for her share of the property.
The former Two and a Half Men actor has dominated headlines this year (11) following a number of incidents, including hospitalisations, rehab and being axed from the hit TV show.
Sheen is currently locked in a custody battle with estranged wife Brooke Mueller over their twin boys, while he also has two daughters with ex-wife Denise Richards - Sam, seven, and Lola, five.
30 Rock star Morgan has now slammed the actor for spiralling out of control and accused him of concentrating on his My Violent Torpedo Of Truth/Death Is Not An Option tour rather than taking care of his children.
Morgan says, "Charlie Sheen ain't funny to me. I think that's a train wreck and I feel bad for his two little kids because they're the bodies being pulled out of the train wreck. What's going to happen to them? But everybody thinks it's a joke... While this a-hole is going on stage making a fool of himself his kids are going to suffer and don't even know it because this is a cycle of abuse."
The former Two and a Half Men star was running late to his one-man comedy gig after he was held up in a Los Angeles court following a custody hearing with his estranged wife Brooke Mueller.
The troubled actor faced a mad dash across the U.S. to make it to his concert on the east coast in time and revealed on his Twitter.com account that he had been given special treatment by cops upon landing at Dulles International Airport in D.C..
He wrote, "In car with police escort in front and rear! Driving like someone's about to deliver a baby! Cop car lights #Spinning!"
He also posted a picture taken from the window of the car showing the police lights up ahead.
But Sheen's blog posts have landed the officers involved in trouble with department bosses - according to local councilman Phil Mendleson, D.C. Police Chief Cathy Lanier did not grant permission for the escort.
On Friday (22Apr11), spokeswoman Gwendolyn Crump confirmed the department's internal affairs unit was investigating the incident. The police representative refused to comment further on the controversy.
Sheen eventually took to the stage at the D.A.R. Constitution Hall an hour late.
Richards divorced the former Two and a Half Men star in 2006, but they have remained close for the sake of their two daughters Sam, seven, and Lola, five.
The troubled actor is currently locked in a custody battle with Mueller over their twin boys, and it was rumoured former Bond girl Richards had volunteered to look after the kids while Sheen tours the U.S. with his one-man comedy show and Mueller reportedly seeks help in rehab.
The actress admits her relationship with her ex is rocky, but she felt compelled to offer her services to ensure the kids were well taken care of.
During an appearance on U.S. TV show Watch What Happens Live on Thursday (21Apr11), she says, "We're not in the best place right now, to be honest with you. But I do still communicate with him... I offered (to help). I wasn't asking for custody or anything like that. I put it out several times over the last couple of years that if they need help, I'm here. I would love the boys to stay and be with the girls... I give Brooke a lot of credit."
But although Richards will always have a soft spot for the embattled actor, it doesn't mean she approves of his bizarre behaviour.
She adds, "For me, it's very sad to see him on this path. I've heard he's chosen to use me in part of his tour (material), and that's hurtful. But that's his choice... He can do what he wants in his show... This is his lifestyle, and I've accepted it."
The troubled actor appeared in court in Los Angeles on Tuesday (19Apr11) asking a judge to grant him full custody of his twin sons, Max and Bob, with estranged wife Brooke Mueller. Sheen's request was turned down and he was left facing a mad dash across the U.S. to get to his show on the east coast that evening.
After landing in the capital, Sheen was given a police escort as he made his way to the venue and he wrote about the experience on his Twitter.com page while he was in transit, telling fans, "In car with police escort in front and rear! Driving like someone's about to deliver a baby! Cop car lights #Spinning!"
He also posted a picture taken from the window of the car showing the police lights up ahead.
Sheen finally made it to the city's DAR Constitution Hall and took to the stage nearly an hour late, explaining his tardiness by alleging he and Mueller agreed to take drug tests as part of their custody battle.
He told the crowd, "I'm not supposed to talk about this, but it's so f**king cool, I might have to. She (Mueller) refused a test a few days ago, and to me that's, you've got something to hide, right. So I said, you know what? Let's f**king test today. Let's test today. That's why I was f**king late."
A spokeswoman for the Washington, D.C. police force has since answered criticism of Sheen's police escort, revealing the actor is expected to pay for the cops' services, but the matter is under investigation.
Spokeswoman Gwendolyn Crump tells the Washington Times, "This escort was handled as a reimbursable detail. This means that the government was reimbursed for the services provided. This entire matter is under investigation."
The star appeared in court on Tuesday (19Apr11) seeking a change in the custody settlement he made with his estranged wife in March (11), however a Los Angeles County judge ruled the agreement will remain unchanged, reports TMZ.com.
The Two and a Half Men star is now in a race against time - Sheen faces a mad dash across country if he's going to make it to Washington, D.C. for the latest stop on his much-maligned My Violent Torpedo of Truth tour.
Pundits expected Sheen to be a no-show at the court date on Tuesday morning, but the troubled actor met estranged wife Brooke Mueller there in the latest round of their ongoing battle over custody of their twin sons.
Now, he faces a race against time if he is to hit the stage at the DAR Constitution Hall for the latest theatre tour stop. Staff at the venue tell TMZ.com they have not been told the show has been cancelled.
The website reports Sheen left the courtroom just before 11am on Tuesday. He now faces a four hour flight and a three hour time change. He is due onstage at 8pm.
The former Two and a Half Men star split from Mueller following a heated altercation on Christmas Day in 2009, which resulted in the actor's conviction for assault.
They have been fighting over twin sons Bob and Max ever since and returned to the L.A. County Courthouse on Tuesday (19Apr11) to argue their cases for sole custody of the boys.
Sheen took time out from a one-man theatre tour to meet his estranged wife in court.
The latest developments in the high-profile case will remain private after Judge Hank Goldberg banished all members of the media from the court house, reports TMZ.com. Judge Goldberg refused to go into detail about the abuse allegations.
The news comes a month after Sheen was temporarily stripped of all custody rights amid allegations the star had threatened Mueller's life. The kids were subsequently removed from the actor's care, although the former couple reached a new custody agreement shortly afterwards.
The latest custody hearing comes just days after news broke suggesting Mueller has checked into a rehab facility.
Reports suggest both Mueller's mother and Sheen's ex-wife Denise Richards have offered to take charge of the twins while Sheen is on tour and Mueller is allegedly in rehab.
The former couple has thrashed out the details of their custody arrangements for their twin sons, Bob and Max, and they have both agreed to remain drug and alcohol free.
According to the official agreement, filed in Los Angeles County Superior Court and obtained by TMZ.com, both Sheen and Mueller will submit to three random drug exams every month.
Both parents must also have their nannies accompany them at all times when they are looking after the kids, and are banned from being photographed with a romantic partner and the boys.
The former Two and a Half Men star will have custody of the twins every other weekend for the first two months and in the following two months he will get to spend three days per week with them.
The estranged couple wed in 2008 but they split after a bust-up the following year (09), which left the actor with an assault conviction.
Sheen, who has been a tabloid regular over the last few months with his bizarre behaviour, appears to have settled his differences with Mueller after she agreed to let her restraining order against him expire.
Met April 2006; Announced engagement July 2007; Married May 30, 2008; Sheen filed for divorce Nov. 1, 2010, stating in documents that they separated the same day as a Christmas 2009 altercation that led to assault charges against him; Divorce finalized May 2, 2011