The Los Angeles Lakers player, 26, was accused of sexual assaulting a female hotel employee in a Colorado mountain resort during his vacation in June 2003.
The criminal rape trial of the NBA ace was thrown out of court last September after the alleged victim refused to testify.
On Thursday US District Judge Richard Matsch signed a one-sentence order in a Denver court ending the suit, just a day after Bryant's lawyers issued a statement declaring Bryant and the woman had "resolved (the matter) to the satisfaction of both parties".
Married Bryant admitted sexual relations with the woman, but claimed it was consensual.
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