The actor tells PEOPLE he felt a surge of gratitude that he and his wife were unhurt after Thursday's collision
Credit: Jason LaVeris/FilmMagic

After being hit by a drunk driver alongside wife Megan Fox on Thursday in Los Angeles, Brian Austin Green is speaking out about what the experience was like – and how he’s changed because of it.

“I’m okay. My wife is okay. We walked away,” Green, 41, told PEOPLE at‘s Night of Generosity gala at the Beverly Wilshire Four Seasons Hotel Friday evening, just one day after the crash. “I mean, I’m not a doctor, so I don’t know if I’m ‘okay’ okay, but we’re both walking.”

And as for the other driver? “He lived. He hit the airbag, got out of the car,” he said.

A Los Angeles Police Department spokeswoman confirmed to PEOPLE that the other driver was arrested for driving under the influence following Thursday’s crash.

Green said that although no one was hurt, the incident was life-changing. “Your head is reliving the moment over and over again, and you start thinking, ‘Could I have done anything differently?’ ” he explained.

The onetime Beverly Hills, 90210 actor also recalled a series of thankful moments post-crash. “A moment of gratitude. A moment of giving back. A moment of ‘Thank you, God.’ And then a moment of, ‘I’m going to have more of these moments.’ ”

The couple’s two sons, Bodhi, 9 months, and Noah, 2, were not in the car, nor was their big brother Kassius, 11, Green’s son from a previous relationship.