A judge has issued a temporary restraining order requiring David Hasselhoff to stay away from his estranged wife, according to court papers unsealed this week.

Los Angeles Superior Court Judge Mark A. Juhas signed the order March 6 ordering the former "Baywatch" star to stay at least 100 yards from actress Pamela Bach except for "peaceful contacts related to court ordered visitation" of one their two teenage daughters.

Bach, 42, has custody of one daughter while Hasselhoff, 53, has custody of the other.

Juhas scheduled a hearing for April 4 to decide whether to extend the order to three years.

In her request for the order, Bach claimed instances of domestic violence in December and February. In one incident, police officers were summoned but didn't give Bach an emergency protective order, according to court documents.

Hasselhoff's publicist said the actor "categorically denies" Bach's allegations but declined to elaborate.

"Out of consideration for his children, which, as always, remains his paramount concern, he is not going to discuss this publicly," said publicist Judy Katz.

Hasselhoff filed for divorce Jan. 12, citing irreconcilable differences after 16 years of marriage. Bach filed her own divorce papers a day later, also citing irreconcilable differences.

Hasselhoff played lifeguard Mitch Buchannon on "Baywatch" from 1989 to 2000. He also starred in the 1980s TV series "Knight Rider," in which his character, Michael Knight, teamed with a talking Pontiac Trans Am sports car to fight crime.

Bach appeared in the soap opera "The Young and the Restless" and in numerous episodes of "Baywatch" and "Knight Rider."