The former Friends star plays attorney Kardashian in American Crime Story: The People v OJ Simpson, which details the high profile trial of OJ Simpson.
Kardashian was among the legal team who worked to get OJ found not guilty of murdering ex-wife Nicole Brown Simpson and her friend Ron Goldman. Kris Jenner was good friends with Nicole.
Speaking to People magazine, actor David said: "Kris was really, really generous with her time. It was really great to learn about how much a man of faith he was and how loyal and considerate he was.
"He was a very humble, very private person. Not at all seeking the limelight, that was inadvertent."
David told The Hollywood Reporter in a separate interview that he'd passed on the chance to meet with Robert and Kris' daughters Kim, Kourtney and Khloe Kardashian as they were so young when the murders happened.
"The producers of [Keeping Up With the Kardashians] had asked me if I wanted to talk to the daughters, too, but I didn't feel that was necessary. And they wanted to do it on camera."
He added to Access Hollywood: "What I needed to know was who [Kardashian] was as a husband and a man. Those are things that Kris Jenner was really helpful with."
Oscar-winning actor Cuba Gooding Jr plays OJ Simpson in the TV series, while John Travolta is Robert Shapiro, another lawyer on his legal team. Selma Blair stars as Kris Jenner, then known as Kris Kardashian.
It premieres in the US on FX on 2 February.
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