"The agreement, which is subject to approval by the court, is intended to resolve all pending and prospective claims by purchasers of Petrobras securities in the United States and by purchasers of Petrobras securities that are listed for trading in the United States," Petrobras said in a statement filed with Brazilian and US market regulators.
The oil company, which admits no guilt under the settlement, proposes making the payment in two USD 983 million installments, followed by a third payment of USD 984 million.
The settlement would be reflected in the company's fourth quarter 2017 earnings.
"The agreement does not constitute any admission of wrongdoing or misconduct by Petrobras. In the agreement, Petrobras expressly denies liability," the statement said.
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The company asserted that it was a "victim" itself in the scandal, called Operation Car Wash, which is the biggest anti- corruption probe in Brazilian history.
Some of Brazil's biggest business figures and politicians have since been arrested or investigated.
Petrobras, Brazil's biggest company, was cited as one of the entities at the heart of the affair, in which in it is estimated to have lost more than USD 2 billion.
Petrobras said in the statement it has recovered USD 450 million in funds tracked down in the probe, and "will continue to pursue all available legal remedies from culpable companies and individuals."
Petrobras said the agreement would eliminate the risk of an adverse verdict, which could have "a material adverse effect on the company and its financial situation, and puts an end to the uncertainties, burdens and costs of protracted litigation."
Those had been acquired at a price based on the estimated value of Petrobras's assets.
After the scandal broke, however, the company's assets were depreciated, causing losses for numerous investors.