Katherine Jackson back home

Michael Jackson's mother Katherine has returned to her grandchildren after a Jackson family feud led to a judge transferring guardianship of the late singer's three children to his nephew TJ.

Michael's 14-year-old daughter Paris – who has been tweeting about her 82-year-old grandmother's whereabouts since she was reported missing over the weekend – tweeted: "grandma's here! #thankyougod" last night.

Katherine was granted custody of Paris, Prince Michael (15) and Blanket (10) after their father's death in 2009, but on Wednesday (26 July) judge Mitchell Beckloff suspended that arrangement because the Jackson family matriarch had been absent from the family home in Los Angeles for over a week.

She later vowed to fight to regain legal guardianship of the children.

"I am devastated that while I've been away, my grandchildren have been taken away from me, and I'm coming home to see about that," the grandmother said in an interview with ABC News.

Katherine's absence came amid fresh legal financial disputes stemming from the star's will, which siblings Tito, Janet, Rebbie, Randy and Jermaine insists is a "fake".

Entertainment media had portrayed Katherine's absence as an abduction by her children, who are allegedly furious that they did not inherit any of the singer's assets.

Paris fuelled the speculation with a series of tweets in which she insisted her grandmother was "missing" and wrote "something is really off, this isn't like her at all... I wanna talk directly to my grandmother."

However, Katherine insisted that rumours of a kidnapping were false, telling ABC News "My children would never do anything to me like that", and that she had merely been visiting a spa in Arizona to "rest".

Like his sister, Prince Michael was not convinced, and wrote in a tweet: "As long as I can remember my dad had repeatedly warned me of certain people and their ways.

"Although I am happy my grandma was returned, after speaking with her I realized how misguided and how badly she was lied to. I'm really angry and hurt."

The teenager also lashed out at his father's siblings for denying the children contact with her grandmother while she was in Arizona.

He published a screenshot from a group text message chat in which Janet Jackson apparently wrote "Don't let them pls" after he wrote "This is enough so I am texting you for the simple fact that WE DEMAND TO SPEAK TO MY GRANDMA NOW!!!"

Jackson said the reason she didn't call her grandchildren for more than a week was because "I just gave up my phone and I didn't want to have any phone calls" while she was in Arizona.

According to her lawyer, Katherine was at the Miraval Arizona Resort & Spa in Tucson "because of her high blood pressure and to get some R&R (rest and recuperation)."

Jackson explained that she had arranged for TJ and the household staff to look after the children in her absence, but that someone had intervened and told the cook, nanny and housekeepers to leave.

"I don't know who did that but they don't have that power and they shouldn't have done it," Jackson told ABC.

On Monday, police were called to the children's Los Angeles home after some of Michael's siblings allegedly "stormed" the property, telling the children that they had chartered a jet to take them to see their grandmother. The children refused, and police were called to the scene.