Robert Herjavec and his ex-gf are finally seeing eye to eye -- they're both walking away from the lawsuits they filed against each other ... his for extortion, and hers for sexual assault.
According to docs, Herjavec and Danielle Vasinova filed to dismiss their lawsuits ... due to a settlement. TMZ broke the stories ... Robert sued Danielle last year, claiming she was demanding $20 million in exchange for her silence about their sex lives.
A few hours later, she sued him, alleging the "Shark Tank" star had sexually assaulted her while at an underground sex club in L.A. ... and also at home.
Both lawsuits have been dismissed with prejudice, meaning they can't be refiled.
Danielle's docs include a document saying she apologizes for the allegations "and for any problems I have caused Robert or his family." She says she did NOT receive any money.