“A gaggle of awe sum!!” the Two and a Half Men actor, 50, captioned the pic of the smiling foursome.
In the image, the group stands in front of a collage of family photos as Sheen wraps his arms around his daughters and 45-year-old Richards.
Married in 2002, Richards filed for divorce in 2005 while pregnant with Lola.
In November, Sheen revealed on the Today show that he is HIV-positive: “I’m here to admit that I am in fact HIV-positive and I have to put a stop to this onslaught, this barrage of attacks and of sub-truths and very harmful … stories that I am threatening the health of others, which couldn’t be farther from the truth.”