Lenny Kravitz opens up on his secret engagement to Nicole Kidman

Lenny Kravitz with Nicole Kidman and Keith Urban at the 2013 CMT Music awards in Nashville, Tennessee. Photo / Getty

Nicole Kidman recently revealed she was engaged to rocker Lenny Kravitz when they dated between 2002 and 2003.

Now, Kravitz has broken his silence on what he thinks of the Australian and how they have managed to stay friends ever since their split.

"Nicole is amazing," he told Mr Porter. "I have stayed friends with my exes, in most cases."

Lenny Kravitz greets Nicole Kidman at the Hollywood Film Awards in 2016. Photo / Getty Images

Kravitz, 53, said he was excited that his daughter, Zoe Kravitz, got to reunite with Kidman on the set of Big Little Lies, which was honoured recently with a swag of Emmy Awards, including one for Kidman's acting.

"Zoe and she hadn't spent time together since she was younger, since Nicole and I were together, so that was great," Kravitz said.

Kidman let slip this year that she and Kravitz were secretly engaged, while talking about Zoe.

"I knew Zoe because I was engaged to her father. It's all in the family!," she said. "I love Lenny, he's a great guy."

Kidman had said she was engaged once between her 2000 divorce from Tom Cruise and her 2006 marriage to Keith Urban but never revealed who it was.

"It just wasn't right," she told Vanity Fair in 2007 of the secret engagement, without revealing her former fiance. "I wasn't ready. We weren't ready."

Zoe Kravitz has said she was fond of Kidman and that she used to live with the Australian and her dad when she was a teenager.

"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.

Nicole Kidman and Zoe Kravitz (far right) starred together in Big Little Lies, which recently won eight Emmy Awards. Photo / Getty

Lenny Kravitz says that his daughter is "hard on" any potential girlfriend of his that she meets.

"If someone's around who is not in her eyes correct, she'll let it be known," he said. "To everybody. What's wonderful about Zoe is that she's very honest. She's not fake at all."

Kravitz said he is also "best friends" with Zoe's mother and his ex-wife, Lisa Bonet.

The pair met in 1985, married in Las Vegas in 1987 and had Zoe in 1988.

"We were mirror images of each other, male and female," he says. "It was quite extraordinary.

"I hope to have a great love again. I plan on it," he said.