The pair - who struck up an ill-fated romance in 2016 before their bitter split the following year -have been locked in a bitter custody battle for over a year.
Their new agreement states that the former couple will share physical custody of Dream through an alternating weekly schedule.
Rob and Chyna - real name Angela Renée White - will spend equal time with their daughter during holidays, according to the paternity agreement filed in December.
The document states: "Commencing December 2, 2020, and on alternating weeks thereafter, respondent [Kardashian] shall have custody of the minor child from Wednesday at 10am through Saturday at 10am."
The document added: "Petitioner [Chyna] shall have custody of the minor child from Saturday at 10am commencing December 5, 2020, and alternate weeks thereafter."
What's more, neither Rob, 33, or Chyna, 32, are allowed to be under the influencer of alcohol or other substances while caring for Dream, reports Us Weekly.
It comes as Rob accused his former flame of negligent parenting and substance abuse in a last year's emergency motion filing.
Chyna had denied the allegations at the time.
In it he requested that he should have primary custody of the little girl, with Chyna only having her daughter for weekend visits that were accompanied by a nanny, and that she should undergo drug and alcohol tests before each visit.
Rob also slammed Chyna's parenting effort and accused her of spending £450 a day on alcohol, abusing drugs and failing to keep Dream well-presented.
He also claimed she dropped Dream off at his house with messy hair, dirty teeth and dirty nappies.
Rob's sister Khloe has also backed her brother's claims in a filed declaration, where she wrote that Dream would come back from Chyna's house acting "aggressive".
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