US media giants Viacom and Cablevision have settled an acrimonious dispute over streaming live TV shows on the iPad.

Viacom, the world's fourth-largest media group and owner of cable channels including MTV and Comedy Central, sued Cablevision in June after the US cable operator began streaming programmes to Apple's popular tablet computer without permission.

The terms of the deal were not disclosed. The companies issued a joint statement: "Viacom and Cablevision have agreed to resolve their pending litigation, and the Viacom programming will continue to appear on Cablevision's Optimum Apps for iPad and other IP [internet protocol] devices.

"In reaching the settlement agreement, Cablevision and Viacom were able to resolve the iPad matter and an unrelated business matter to their mutual satisfaction. Neither side is conceding its original legal position or will have further comment."

Viacom accused Cablevision of breaching its distribution deal with the company when it launched the iPad app for its cable subscribers. Viacom sought $2m (£1.23m) for each alleged trademark violation made by the iPad app.

Cablevision contended that its customers should be able to view TV on multiple devices – including smartphones and tablet computers – inside the home.

Viacom brought a similar lawsuit against another US cable operator, Time Warner, after it launched an iPad app that allowed users to livestream Viacom programmes. Those two companies agreed to temporarily drop their lawsuits in June, while they negotiated a potential business deal.

In the UK, both Sky and the BBC allow viewers to watch live TV via the iPad. Figures released by the corporation last week suggest that a third of all iPad owners use their device to livestream programmes, which the BBC says is driven by its iPlayer catch-up service.