The 23-year-old pop star dropped by Disney in Orlando while on tour in the Sunshine State, and was spotted riding a coaster with the Almost Famous actress, 36.
Jonas tried to stay incognito with a Yankees baseball cap pulled low over his eyes, but that didn’t stop onlookers from snapping pics of the famous duo on the Rock ‘n’ Roller Coaster at Disney’s Hollywood Studios on Saturday.
The former Jonas Brother performed for back to back packed audiences at House of Blues in Orlando on Saturday night and the Fillmore Miami Beach on Sunday, as he continues his world tour.
“She gave him a hug and a quick peck before she went to her seat,” an HOB employee tells PEOPLE of Hudson, who attended the Orlando show. “It just seemed really friendly, not romantic.”
“I don’t think anyone in the audience even noticed her the whole night,” says the employee. “She was smiling and enjoying the performance.”
Hudson and Jonas share a connection through his new FOX show, Scream Queens, which he costars with Hudson’s brother, Oliver.
The Rock the Kasbah actress has been tied to two rock stars in the past. She and The Black Crowes singer Chris Robinson were married for six years and have an 11-year-old son named Ryder. She also has a 4-year-old son, Bingham, with her former fiancé, Muse frontman Matthew Bellamy.
Jonas is coming off a recent breakup with former Miss Universe winner Olivia Culpo. He and the model split in June after a two year relationship.
After hanging out with Jonas over the weekend, Hudson reported on Instagram that she returned to work on Monday, filming her new movie Mother’s Day.
•Reporting by STEVE HELLING