Sambora, 52, began dating Richards in 2006, shortly after his marriage to Heather Locklear collapsed.
The couple appeared together as Sombre was honoured at the 12th Annual Golden Heart Awards in Los Angeles for his charity work.
"This is a big night for Richie, so I am here to support him. It's really important work that he does," Richards said.
"We are back on. It is all good," Sambora added.
Richards, 41, was earlier married to actor Charlie Sheen with whom she appeared in "Good Advice" and "Scary Movie 3".