Artist Moore launched a lawsuit against his childhood friend earlier this year, claiming that Kirkman promised him a share of the revenue from the zombie property which he has never received.
Kirkman dismissed the allegations as "ridiculous", but the pair have now settled up, according to a joint statement issued to CBR.
"Robert Kirkman and Tony Moore are pleased to jointly announce that they have reached an amicable agreement in their respective lawsuits and all parties have settled the entire matter to everyone's mutual satisfaction," they said.
"Neither side will be discussing any details but will instead happily and productively spend their time focused on their own work and move on in their lives."
The news of the settlement comes just three weeks before the Walking Dead television show's third season premiere.
Watch the cast of The Walking Dead discuss season three below: