You can file a motion to vacate the prior restraining order. However, the court does not automatically grant such a motion, out of concern for the victim. You have to present fairly clear reasons to get the court to vacate the order.
DISCLAIMER: This answer is provided for general educational purposes only. By using or participating in this site you agree and understand that there is no attorney client relationship between you and the attorney responding, and no attorney-client confidentiality. The law changes frequently, and varies from jurisdiction to jurisdiction. The information provided in this answer is general in nature and may not apply to the factual circumstances described in your question. The applicable law and the appropriate answer may be different in the State or States where the relevant facts occurred. For a definitive answer you should seek legal advice from an attorney who (1) is licensed to practice in the state which has jurisdiction; (2) has experience in the area of law you are asking about, and (3) has been retained as your attorney for representation or consultation. Your question and the attorney’s answer may be used for promotional or educational purposes.
You do not mention who filed the restraining order and under what circumstances.
Nonetheless you may file a motion to vacate that restraining order with supporting evidence.