Tyrese and 10-year-old Shayla hit up Nobu in Malibu ... this after the judge denied Norma's request for a permanent restraining order. The judge also awarded Tyrese 50/50 custody.

He has some interesting things to say. On the one hand he says Rx drugs took him off the rails, which is why he said Will and Jada Smith gave him $5 million ... which they did not. But then he insinuates they promised him money but it never arrived. Our Will and Jada sources say they never offered.