U.S. District Judge Stefan R. Underhill on Thursday approved a settlement ending federal court oversight of the state Department of Children and Families for the last three decades, following an overhaul of the agency which has led to demonstrated success.

Attorney Steven Frederick, a longtime Connecticut resident who served as co-lead counsel for the plaintiffs, said he has seen the changes firsthand. Thirty years ago, he often saw clients who complained about the way the DCF treated them and were terrified their children might be taken away.