Last year, the TV personality sued Yorkville Endoscopy, where Joan went into cardiac arrest in 2014, and several employees there, claiming negligence.
Melissa sought unspecified damages and said she sued to ensure that nobody else will ever experience what happened to her mother, reported ABC News.
"In accepting this settlement, I am able to put the legal aspects of my mother's death behind me and ensure that those culpable for her death have accepted responsibility for their actions quickly and without equivocation," she said.
The lawsuit also named, among others, former Yorkville Endoscopy medical director Dr Lawrence Cohen, anesthesiologist Robert Koniuta and Dr Gwen Korovin, Joan's personal ear, nose and throat doctor who allegedly was not authorized to be in the room at the time the comedian went in for a routine procedure on August 28, 2014.
Joan died in September 2014 at the age of 81, just days after she went into cardiac arrest at Yorkville Endoscopy.
"While we know that no amount of money will compensate Melissa Rivers and her son Cooper for their loss, we are pleased that the case has been resolved. We worked tirelessly to ensure that appropriate compensation was paid on behalf of those responsible for Joan Rivers' death," said Melisa's attorneys, said.