David Dao, the doctor who was seen being dragged off a United Airlines jet this month in videos that sparked widespread outrage, has reached a settlement with the airline for an undisclosed amount, his lawyers said on Thursday.

The April 9 episode had stoked the fears and frustrations of airplane passengers everywhere and became a public relations nightmare for United.

On Thursday, both sides welcomed what they hoped would be the end of the ordeal.

“Mr. Munoz said he was going to do the right thing, and he has,” Thomas A. Demetrio, one of Dr. Dao’s lawyers, said of Oscar Munoz, United’s chief executive. “In addition, United has taken full responsibility for what happened on Flight 3411, without attempting to blame others, including the City of Chicago. For this acceptance of corporate accountability, United is to be applauded.”