Couch, who killed four people in a 2013 drunk-driving crash, wants to go forward "as a law-abiding citizen," his lawyers said.
Fred Couch will serve a year's probation for the 2014 incident.
Couch is serving 720 days in jail -- 180 days for each of the four people he killed while driving drunk in 2013.
The judge's decision comes six months after she allegedly helped her son jump bail and flee to Mexico.
A call for delivery pizza tipped off authorities to Couch's whereabouts.