Grimes filed a "petition to establish a parental relationship" on Friday.
The singer, whose legal name is Claire Boucher, is the mother of three of Elon Musk's children.
Last month, Grimes accused Musk of keeping her son from her in a since-deleted social media post.
Grimes is suing Elon Musk over a matter involving one or more of their children.
The singer, whose legal name is Claire Boucher, filed a "petition to establish parental relationship" on Friday in the Superior Court of San Francisco, according to court records. The request is often filed when two parents are unmarried and one of the individuals is trying to have their parentage of a child legally recognized, or when seeking child support or custody, according to The San Francisco Standard, which first reported on the filing.
The details of the petition aren't currently known. Musk has yet to file a response to Grimes's legal request and the singer has yet to file a request for custody or child support, according to the court records.
Musk, his lawyer, and Grimes' attorney did not immediately respond to Insider's requests for comment ahead of publication.
Grimes and Musk have three children together, including their first child Æ A-12 — also known as baby X. Musk has been known to bring X along to work, including meetings at his social media company that bears the same name, interviews on national television, and to SpaceX rocket launches.
The court filing comes weeks after Grimes posted on the social media site X, formerly Twitter, in response to a photo Musk's biographer, Walter Isaacson, published on X of Shivon Zilis and Musk with their two children: "Tell Shivon to unblock me and tell Elon to let me see my son or plz respond to my lawyer," Grimes said in the since-deleted post. "I have never even been allowed to see a photo of these children until this moment, despite the situation utterly ripping my family apart."
Grimes and Zilis later took to social media to say they were no longer feuding.
"Communication about the twins wasn't handled super well in the past, but I now totally understand what happened and totally forgive the situation," Grimes wrote on X on September 10, adding that she's excited for the two women's kids to "grow up together."
Between his previous partners and spouses, Musk has 10 known living children.
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