Sherri Shepherd -- Wins Custody Battle with Husband #1

Sherri Shepherd will maintain primary physical custody of her 9-year-old son, despite her ex-husband's claims she's a horrible parent to the child.

Sherri emerged victorious over Jeffrey Tarpley after yesterday's hearing in L.A. County Court -- he was seeking full custody of their son, but was denied by the judge.

TMZ broke the story ... Jeffrey made some horrendous claims about Sherri neglecting Jeffrey Jr. -- including blaming her for the boy not being able to read or tie his shoe laces.

The judge clearly disagreed. In court docs -- obtained by TMZ -- she wrote, "there has not been a material change in circumstances to grant the request."

After court Sherri asked fans to "keep the prayers coming" ... clearly referring to her ongoing battle with estranged husband Lamar Sally.

Keep the prayers coming... Still got more battles - please judge me by my character and not from the tabloids who are having a slow news day