Kelly and her ex-husband Daniel Griesch have been involved in a international custody battle for their two children since their split in 2008. In 2012, a California judge ordered the kids to live with Daniel in Monaco because his US visa had expired.
The latest hearing occurred after Kelly failed to return the children to him last week, which led Daniel to accuse the Hollywood star of kidnapping.
"I think kidnapping is when no one knows where their children are and I was in communication," she told GMA host Robin Roberts. "The kids were Skyping with him every day. I wrote him an email telling him exactly that nobody had jurisdiction in my country and I was concerned."
On Tuesday, Judge Ellen Frances Germer ruled that the children - eight-year-old son Hermes and six-year-old daughter Helena - had to be returned to their father. They were then immediately wisked off to Monaco by their paternal grandmother.