Now, the 53-year-old musician has broken his silence to Mr Porter magazine, and claims the two remain good friends.
'Nicole is amazing,' he told the publication. 'I have stayed friends with my exes, in most cases.'
Kravitz also told the publication he was excited that his daughter, Zoe Kravitz, got to work with the talented actress on the set of Big Little Lies.
'Zoe and she hadn't spent time together since she was young, since Nicole and I were together, so that was great,' Kravitz revealed.
Earlier this year Kidman accidentally revealed her secret engagement to Kravitz while talking about Zoe.
'I knew Zoe because I was engaged to her father,' she revealed. 'It's all in the family! I love Lenny, he's a great guy.'
Zoe even opened up about Kidman in a recent interview about her role in the popular series.
'I hadn’t seen her in a long time before Big Little Lies, but there was a point where we were all kind of living together. I was about 13, and she would take me to see movies; she was so nice to me,' she said.