Four-year-old boys Max and Bob were removed from Mueller's home last Thursday (02May13) after officials from the Department of Children and Family Services deemed the property an "unsafe environment", reportedly because of the former realtor's suspected drug use.
Richards agreed to take temporary custody of the kids, so they could stay with their half-sisters Sam and Lola, and Mueller subsequently checked into UCLA Medical Center to undergo treatment for prescription drug addiction.
The former Bond girl headed to court with Sheen and Mueller's lawyers on Tuesday (07May13), when the judge overseeing the case agreed Richards' care was best for the boys, reports Tmz.com.
The actress previously stepped in to look after Sheen's sons in 2011 when Mueller sought treatment at another rehab facility.
The ongoing custody arrangement is sure to make the actor happy - he released a statement through his representative on Friday (03May13), insisting Richards' home was the best place for the twins.
The statement read: "Charlie supports the actions of the Department of Children and Family Services. He knows Max and Bob are safe and in a stable, loving environment with Denise and the boys' sisters."