A judge issued the order in April after the 35-year-old actress alleged in court papers that Sheen pushed, shoved and threatened her and her parents.
Sheen, 40, has denied the allegations.
The restraining order was extended to July 13 so a psychologist can evaluate and make a determination regarding a custody arrangement for their two young daughters, Sheen's publicist Stan Rosenfield said.
"Denise and Charlie are working with the courts to privately resolve their differences regarding their children. They hope to resolve this matter outside of the public forum and will both continue to make every effort in this regard," Rosenfield and a publicist for Richards said in a joint statement Friday.
Richards filed for divorce in March 2005 after three years of marriage. The couple seemed to have reconciled after the birth of their second daughter last summer, but in January they filed legal papers asking a private arbitrator to handle their divorce.
The restraining order required Sheen to stay at least 300 yards from Richards and their daughters, except during supervised visits.