A filing in federal court in Newark on Wednesday refers to a confidential settlement reached by the two sides.
Mr. Morgan's lawyer did not immediately respond to a message seeking comment on Wednesday. Walmart Stores called it an "amicable settlement." Details of the settlement were not disclosed.
A Walmart tractor-trailer slammed into the back of a limousine van carrying Mr. Morgan and the others back to New York City from a comedy show in Delaware on June 7. James McNair, 62, a comedian known as Jimmy Mack, was killed. Mr. Morgan suffered head trauma, a broken leg and broken ribs.
Walmart reached a settlement with Mr. McNair's two children in January.
"We know there is nothing we can do to change what happened to Mr. McNair," a company spokeswoman, Brooke Buchanan, said in January. "We're committed to doing what's right."
The truck driver, Kevin Roper, of Jonesboro, Ga., faces several criminal charges in state court, including death by auto. He has pleaded not guilty. He was not a defendant in Mr. Morgan's lawsuit.
Mr. Morgan, who starred on the television shows "Saturday Night Live" and "30 Rock," suffered what his lawyer, Benedict Morelli, has referred to as a traumatic brain injury. Mr. Morelli said in March that Mr. Morgan had not fully recovered but was "working very hard to get better, physically, emotionally and mentally."
Ardley Fuqua Jr., of Jersey City, and Jeffrey Millea, of Shelton, Conn., were also injured in the crash and were plaintiffs in the lawsuit against Walmart.
According to the criminal complaint, Mr. Roper was operating the truck without having slept for more than 24 hours.
A preliminary investigation by the National Transportation Safety Board estimated that Mr. Roper was driving 65 miles per hour just before he struck the limousine van on the New Jersey Turnpike. The speed limit on the stretch of the turnpike they were traveling on is 55 m.p.h. and was lowered to 45 m.p.h. the night of the crash because of construction.