Deanna, who gave up Chelsea for adoption in 1997, picked her up from Rosie's home on Monday, her 18th birthday, TMZ reports.
Chelsea will live with Deanna in Wisconsin, against Rosie's wishes. Rosie is reportedly refusing to hand over Chelsea's birth certificate and Social Security card, along with cutting her off financially.
Rosie's rep, Cindi Berger, said in a statement, "Chelsea made a decision when she turned 18 that she wanted to go to her birth mother. This was her choice.”