Doctor Eva Carneiro has settled her dismissal claim against her former employers Chelsea FC on confidential terms, the BBC repprts.
Carneiro had claimed constructive dismissal against the club and was also bringing separate legal action against former manager Jose Mourinho.
On Monday it emerged Chelsea offered Dr Carneiro £1.2m to settle her claims which she had rejected.
"I am relieved that today we have been able to conclude this tribunal case. It has been an extremely difficult and distressing time for me and my family and I now look forward to moving forward with my life," Caneiro said in a statement on Tuesday.
"My priority has always been the health and safety of the players and fulfilling my duty of care as a doctor."
Chelsea said in a statement: "The club regrets the circumstances which led to Dr Carneiro leaving the club and apologises unreservedly to her and her family for the distress caused.
"We wish to place on record that in running onto the pitch Dr Carneiro was following both the rules of the game and fulfilling her responsibility to the players as a doctor, putting their safety first.
"Jose Mourinho also thanked Dr Carneiro for the excellent and dedicated support she provided as First Team Doctor and he wishes her a successful career."
Dr Carneiro had alleged that she was sexually discriminated against after she went on to the pitch to treat Eden Hazard during Chelsea's Premier League clash against Swansea last August.
She claims that Mourinho shouted the Portuguese phrase "filha da puta" at her, which means "daughter of a whore", as she ran on to the pitch.
Mourinho has conceded that he used the term, but insisted he had been using it throughout the match.
Mary O'Rourke QC, acting for Dr Carneiro, told the court on Monday: "He [Mourinho] uses the word 'filha' because he is abusing a woman."
Dr Carneiro also alleged that on 10 August last year Mourinho told Steve Atkins, head of communications and PR at Chelsea, that he did not want Dr Carneiro on the bench at the next match, adding: "She works in academy team or ladies team, not with me."