Story highlights Morgan released from rehab center, to continue recovery at home, his rep says

"We're committed to doing the right thing for all involved," says Walmart statement

Crash injured Morgan and killed his friend

Lawsuit is by Morgan and three others, and was filed in U.S. District Court in New Jersey

Comedian Tracy Morgan is suing Walmart over a deadly limo bus crash on the New Jersey Turnpike that left him critically injured.

The complaint was filed Thursday in the U.S. District Court in New Jersey.

Morgan, 45, suffered broken ribs, a broken nose and a broken leg in the crash in the early morning hours of June 7. His friend and fellow comedian James McNair was killed and others were injured.

Morgan has been released from a rehabilitation center and will "continue his recovery at home with an aggressive outpatient program," his representative, Lewis Kay, said Saturday.

"He asked me to pass along his sincerest gratitude to everyone who has helped him get to this point," Kay said. "He would also appreciate some privacy during this crucial point in his recovery."

The Walmart truck that rear-ended Morgan's limo was traveling 20 mph over the speed limit and its driver was almost at his drive time limit, according to a preliminary report by the National Transportation Safety Board.

Photos: Tracy Morgan's comedy career Photos: Tracy Morgan's comedy career Actor Tracy Morgan returned to the stage to perform in October after recovering from injuries suffered in a six-vehicle accident in New Jersey in June 2014. The former "Saturday Night Live" cast member and "30 Rock" star was riding in a limo that was struck by a Walmart truck. Hide Caption 1 of 11 Photos: Tracy Morgan's comedy career Morgan got his start as a standup comedian, working at Harlem's Apollo Theater before landing his gig on "Saturday Night Live." He was a cast member from 1996 until 2003. In the October 3, 1998, "Big Bernard" skit, Morgan performed with basketball star Shaquille O'Neal. Hide Caption 2 of 11 Photos: Tracy Morgan's comedy career Tracy Morgan with Maya Rudolph in the "On The Subway" skit on April 13, 2002. Hide Caption 3 of 11 Photos: Tracy Morgan's comedy career In 2003, Morgan left SNL to start "The Tracy Morgan Show," but it ran for only one season before it was canceled. Hide Caption 4 of 11 Photos: Tracy Morgan's comedy career Morgan's acting career branched out from television to include movie titles such as "30 Years To Life." Director Vanessa Middleton, left, appeared with Allen Payne and Morgan at the premiere on March 27, 2002. Hide Caption 5 of 11 Photos: Tracy Morgan's comedy career Morgan and wife Sabina pose on the red carpet during the premiere of "Are We There Yet?" in Los Angeles in January 2005. The couple divorced in 2009 after 23 years of marriage. Hide Caption 6 of 11 Photos: Tracy Morgan's comedy career Morgan and Tina Fey worked together after SNL on the show "30 Rock." Morgan played Tracy Jordan, a character that was loosely based on himself. Hide Caption 7 of 11 Photos: Tracy Morgan's comedy career "30 Rock" cast members joke around with their award for outstanding comedy series backstage at the Emmy Awards in Los Angeles on September 21, 2008. Morgan was also nominated for outstanding supporting actor in a comedy series. Hide Caption 8 of 11 Photos: Tracy Morgan's comedy career Morgan starred with Bruce Willis in the 2010 movie "Cop Out." Hide Caption 9 of 11 Photos: Tracy Morgan's comedy career Morgan has stirred up controversy with some of his comments in his comedy acts. "I hurt people with this, so from the bottom of my heart I apologize to everybody who I offended with my words on stage," he said in 2011 after an anti-gay rant in one of his shows. Standup comedy should "heal people, not hurt." Hide Caption 10 of 11 Photos: Tracy Morgan's comedy career Tracy Morgan promotes his book "I Am The New Black" at Barnes & Noble Union Square on October 22, 2009, in New York. Hide Caption 11 of 11

JUST WATCHED New video of Tracy Morgan crash Replay More Videos ... MUST WATCH New video of Tracy Morgan crash 02:31

JUST WATCHED Crash passenger: Tracy was on top of me Replay More Videos ... MUST WATCH Crash passenger: Tracy was on top of me 01:37

According to the complaint filed by lawyers acting for Morgan and three others, the truck driven by Walmart employee Kevin Roper collided with the rear end of Morgan's vehicle.

"The defendants' negligence was a substantial contributing factor in causing plaintiffs' injuries," the complaint states.

In a statement, Walmart said the crash had been a "terrible tragedy" and that it wished full recoveries to Morgan and two others injured with him, comedian Ardley Fuqua and Morgan's personal assistant Jeffrey Millea. The fourth plaintiff in the lawsuit is Millea's wife, Krista.

"Our thoughts continue to go out to them, their families and friends, as well as to the families and friends of everyone involved, including Mr. McNair who lost his life," the Walmart statement said.

"We are deeply sorry that one of our trucks was involved. As we've said, we're cooperating fully in the ongoing investigation. We know it will take some time to resolve all of the remaining issues as a result of the accident, but we're committed to doing the right thing for all involved."

Roper, from Jonesboro, Georgia, pleaded not guilty last month to criminal charges that include vehicular homicide and assault by auto.

Kay said that Morgan didn't have any comment on the lawsuit. He referred all other questions to Morgan's lawyer, Benedict Morelli.

Morgan was a regular on "Saturday Night Live" for seven years and later received an Emmy nomination for his role in the comedy series "30 Rock."

The New York City native made his reputation with over-the-top characters and impressions of celebrities such as Mike Tyson and Oprah Winfrey.