Is there a fee for dropping a case for filing for a restraining order with issued court?

My loved one and I had a child and we have come to a conclusion to decide not to let her parents with a history of violence and poor parenting to not be a part of our child's life. The mother made many attempts harassing my loved to speak with her. She knows she is unwelcome and there’s been many times I came home to the mother of my child in tears hearing her mother should up and made her uncomfortable and with no phone so she could not call the police. We filed a protection order against both her parents, her mom did not have violence in her records but her dad did. So now we have court for hers. Fathers year restraining order. Her mother was the main subject we wanted to order on and her dad has been no trouble since she moved out almost seems happy she's gone to me. But we have decided that we will just continue to make sure she has a phone on hand at all times and call the cops. We don't want to have to go through the court case. Can we cancel the court case without a penalty?