Australian supermodel Miranda told the new issue of Harper's Bazaar UK that the former couple still love and care for each other despite ending their relationship in October 2013.
"Well, we are very good. We speak every day. We're really close, we're going to be a family forever and we both really do love each other. We have genuine love and respect for each other. We're very connected and I feel grateful for that," she said.
Referencing their three-year-old son Flynn, the star added: "We created something beautiful together and we both remind ourselves how lucky we are to have that. And yeah, it's good. He's a great dad. I'm lucky."
We already knew Miranda and Orlando had remained amicable as they've been spotted together on many occasions since announcing their split.
In a joint statement released last year, they said: "They have been amicably separated for the past few months. After six years together, they have recently decided to formalize their separation.
"Despite this being the end of their marriage, they love, support and respect each other as both parents of their son and as family."
And Orlando later told a US TV show that they will remain in each other's lives forever. "There's no question that for the sake of our son and everything else, we're going to support one another and love each other as parents to Flynn.
"Life sometimes doesn't work out exactly as we plan or hope for, but we're adults, I'm 36 and now she's 30. We're professionals. We love and care about each other. Most of all, we love our son."
Got an iPad or iPhone? Reveal Mag is specially designed to fit!