Much of Uber's case rested on convincing the court that it was past the bad-boy days of its former CEO Travis Kalanick and ready to reform.
Chief Magistrate Emma Arbuthnot granted Uber a 15-month License to operate on the condition that the firm undergoes an independently verified audit every six months.
Its record on driver medical and safety checks, and the use of its secret "Greyball" software to dodge transport officials, also contributed to the decision.
Mayor Sadiq Khan of London said the court had "vindicated" TfL's original decision not to renew Uber's license in September.
"Uber has been put on probation — their 15-month license has a clear set of conditions that TfL will thoroughly monitor and enforce," he said in a statement.
Those executives acknowledged that Uber had not been fully transparent with regulators and that the information it had provided them in the past had been inadequate and even misleading.
But its lawyer Thomas de la Mare argued that Uber had made "wholesale change in the way that we conduct our business."
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