The couple have been married since 1991, but announced their separation in October 2013.
Bruce and Kris will share custody of 17-year-old Kylie, who responded to the official filing by posting a sad poem on Instagram.
"Emptiness we created," she emphasized in the caption.
Sister Kendall Jenner took to Instagram the same day to share a throwback photo of her parents, and captioned the picture with a heart emoji.
The 18-year-old is currently in France for Paris Fashion Week, and walked for Balmain on Thursday. Half-sister Kim Kardashian was attacked by Ukrainian prankster Vitalii Sediuk as she, Kris Jenner and Kanye West arrived at the show.
Copyright 2014 United Press International, Inc. (UPI). Any reproduction, republication, redistribution and/or modification of any UPI content is expressly prohibited without UPI's prior written consent.