EXCLUSIVE

Venus Williams has reached a settlement with the family of the man who died in the Florida car accident she had last year ... TMZ Sports has learned.

According to court docs filed in Palm Beach County, Jerome Barson's estate and the tennis star reached an agreement last week. It's unclear how much money changed hands, but according to the docs there was a financial settlement that will cover certain expenses.

Both sides are paying their own attorneys' fees in the wrongful death suit. TMZ Sports obtained surveillance video showing the brutal accident.

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Jerome's wife was driving and he was the passenger in the sedan that T-boned Venus as she drove through a busy Palm Beach Gardens intersection in 2017.

Venus was cleared of criminal charges after cops determined she was "caught in the middle" of the intersection when her light turned red.