Grant, 55, and Hurley, also 55, looked friendly and casual as they walked down a tree-lined street in the English city.
The Royals actress kept her feet cozy in furry boots, worn with a simple sweater and jeans. Grant appeared ready to play a game of tennis in crisp, white athletic shorts and sneakers.
The pair dated for 13 years, before ending the relationship in 2000. They’ve remained close friends in the time since – Grant is even the godfather to Hurley’s son Damian, 13, with Steve Bing.
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“I love him, but he’s very annoying,” Hurley said of Grant during a Watch What Happens Live appearance earlier this year, and later added, “My friends used to call him Grumpelstiltskin. He is grumpy.”
Regardless, Hurley told the host that Grant “remains my best friend to this day.”
She even opened up about the former couple’s life in the bedroom, ranking Grant a “10.”
“I was with him for 13 years,” she said.