Bill Cosby has settled out of court with a woman who alleged that the comedian has sexually assaulted her.

In a statement released by both parties it said the pair �have resolved their differences� though no details of the settlement have been released.

The woman originally claimed that Cosby had drugged and sexually molested her at his Philadelphia home in 2004.

Cosby denied the allegations and no criminal charges were ever bought after prosecutors said there was insufficient evidence.

In 2005 the woman sued Cosby saying that he offered her tablets that made her unconscious though the TV stars lawyers countered that they were the anti-allergy drug Benadryl.