Moments after RFK’s son battled nurses who refused to let him to take his newborn outside, a maternity-ward supervisor settled the brouhaha by allowing him to leave with the infant, his camp said yesterday.

Douglas Kennedy has been charged with harassment and child endangerment for the Jan. 7 confrontation with nurses at Northern Westchester Hospital.

Kennedy insisted that it was the nurses who needlessly escalated the incident — and that father and son had been given permission beforehand to go outside for fresh air.

But a lawyer for the nurses denied Kennedy’s claim and said no supervising nurse signed off on him taking his 3-day-old son outside.

Kennedy works as a reporter for Fox News Channel, and network founder and Chairman Roger Ailes came to his defense, saying, “I support Douglas as do the independent eyewitness accounts of the event.”