The 48-year-old actor previously blamed the Iron Man star for pushing him out of the money-spinning Marvel franchise in 2013 - but Terence subsequently decided to resolve the situation after he was threatened with legal action.
Speaking on Watch What Happens Live with Andy Cohen, the Hollywood star shared: "We just realised that life is too short. We both realised. Life's too short. Everybody is making money now."
Terence previously said Downey Jr. "took the money that was meant to go to me and pushed me out" of the Iron Man movies, after he starred in the original hit in 2008.
Asked about the fallout from his comments, Terrence said: "There was a lot of drama from it. They wanted to sue me. They're not going to sue me this time."