Mr Jobs said: "We love the Beatles and it has been painful being at odds with them over these trademarks.
"It feels great to resolve this in a positive manner, and in a way that should remove the potential of further disagreements in the future."
Apple Corps manager Neil Aspinall added: "It is great to put this dispute behind us and move on. The years ahead are going to be very exciting times for us.
"We wish Apple Inc every success and look forward to many years of peaceful co-operation with them."