LOS ANGELES - A judge has issued a temporary restraining order requiring David Hasselhoff to stay away from his estranged wife, according to court papers unsealed this week.

Los Angeles Superior Court Judge Mark A. Juhas signed the order March 6 ordering the former "Baywatch" star to stay at least 100 yards from actress Pamela Bach except for "peaceful contacts related to court ordered visitation" of one their two teenage daughters.

Bach, 42, has custody of one daughter while Hasselhoff, 53, has custody of the other.

Juhas scheduled a hearing for April 4 to decide whether to extend the order to three years.

In her request for the order, Bach claimed instances of domestic violence in December and February. In one incident, police officers were summoned but didn't give Bach an emergency protective order, according to court documents.

Hasselhoff's publicist said the actor "categorically denies" Bach's allegations but declined to elaborate.

"Out of consideration for his children, which, as always, remains his paramount concern, he is not going to discuss this publicly," said publicist Judy Katz.

Hasselhoff filed for divorce Jan. 12, citing irreconcilable differences after 16 years of marriage. Bach filed her own divorce papers a day later, also citing irreconcilable differences.

Hasselhoff played lifeguard Mitch Buchannon on "Baywatch" from 1989 to 2000. He also starred in the 1980s TV series "Knight Rider," in which his character, Michael Knight, teamed with a talking Pontiac Trans Am sports car to fight crime.

Bach appeared in the soap opera "The Young and the Restless" and in numerous episodes of "Baywatch" and "Knight Rider."

Back story:TMZ has obtained unsealed documents in the David Hasselhoff divorce case, in which his estranged wife Pamela claims the actor terrorized her.

Many of the documents were blacked out. However, in Pamela's application for a domestic violence order, a portion is still readable. Pamela claims in December 2005, David "grabbed me and pushed me hard into a car." She adds: "In the past, he has also broken my nose and called me 'whore,' 'c***,' 'bitch,' 'slut' and 'drug addict' in front of our children."

She claims last February, David "told me that he was going to break through my security gate, drive his car through the house, beat the door down and go into the house and take my(sic) all of my jewelry and sell it."

Sources tell TMZ that Hasselhoff denies all allegations against him. It is unclear if the judge granted the order.

On March 6, 2006, the judge ordered David to stay 100 yards away from Pamela and her residence. The judge also ordered him to give up any firearm.

Hasselhoff's response: David Hasselhoff says the recently revealed abuse allegations against him are completely false. Now, his estranged wife is weighing in, objecting to the former 'Baywatch' star's implications.

Judy Katz, David's rep, issued this statement to TMZ: "David Hasselhoff categorically denies that he has engaged in the conduct alleged by his wife. Unfortunately, Mrs. Hasselhoff has personal issues that need to be addressed with the assistance of professionals. Out of consideration for his children, which, as always, remains his paramount concern, he is not going to discuss this publicly."

In court documents unsealed Thursday and obtained by TMZ, the actor's estranged wife, Pamela, claims the actor terrorized and physically assaulted her.

Dale Olson, Pamela's publicist, contacted TMZ to respond to that statement. "We question Mr. Hasselhoff's statement about his wife requiring professional help," Olson says. "What does that mean? Professional help could mean an agent looking for a job for her. What [David] is trying to imply is something medical and that is a defamatory statement and we object to that. There has never been an allegation of this type made against Pamela in her career."

Olson adds, "Pamela has been quiet throughout the entire divorce because she wanted to protect the privacy of the children, and now Mr. Hasselhoff is bringing them into the divorce and we object to that."

In addition, Pamela's attorney Gary Mitchell calls the claims made in the court documents by her estranged husband "false and defamatory statements without merit. [David's claims] have not ever been proven."