The legal action applies only to the paternity case in family court and not the criminal case.
Gibson, 55, already pleaded no contest in the criminal case. His attorney is trying to get the criminal case expunged from his record.
Wednesday's development in the paternity case means that a protective order is lifted.
It also means that Gibson and Grigorieva can now meet and talk face-to-face with no third parties involved.
Grigorieva claimed the actor punched her in the face and verbally abused her during a dispute at his Malibu home in January 2010.