Robin Williams' widow Susan Schneider Williams and his children have become embroiled in a legal dispute over his estate.

The New York Times reports that court documents filed in December and January outline a disagreement over money and the late actor's belongings between his wife Susan and Zak, Zelda and Cody Williams, his children from his two previous marriages.

Lawyers for Susan Williams filed legal papers before Christmas in San Francisco, stating her view as to what she is entitled to from the estate.

The petition claimed that some property was "unilaterally removed" from their home in Tiburon "days after Mr. Williams's untimely death" on August 11, 2014.

She subsequently sought legal representation, and as a result “certain home-related services were cancelled", the court documents assert. As a result, she says she has not been “given time to grieve her loss free from the frenetic efforts to interfere with her domestic tranquillity.”

Williams' three children filed their response in January, saying they were "heartbroken" that Susan has “acted against his wishes by challenging the plans he so carefully made for his estate.”

Their legal papers add that Susan's petition is a premature attempt to alter Williams' instructions in his will and "prevent them from receiving what their father wanted them to receive.”

The Williams children state in their court papers that they wish to resolve any potential disputes “as quickly and efficiently as possible, to allow them to privately grieve the loss of their father and begin to heal from this tragic event.”