The former couple are parents to Usher V, 4, and Naviyd, 3, and have been fighting over their children since their acrimonious divorce in 2009 after just two years of marriage.
The Confessions singer, 33, and the fashion stylist both threw hurtful allegations at each other during the trial with Tameka, 44, calling the music superstar an absentee father that was too focused on his career and Usher claimed his ex was irresponsible and not attentive enough with the kids.
The custody battle was an emotional one with Usher even breaking down in tears at one point in court.
The two boys will now primarily be with their father with Tameka still retaining some custodial rights although it is currently unclear how much that would be.
Tameka has gone through a challenging few weeks after losing one of her five children in a tragic accident.
Her 11-year-old son Kile Glover died last month after being hit by a jet ski while being pulled along on an inner tube by a pontoon boat in Lake Lanier.
He was initially pronounced brain dead but then taken off life support and passed away on July 21.
Tameka had another child with Atlanta-based businessman Ryan Glover and an older son from an earlier relationship in her teens.