The 49-year-old actress said she dated Lenny in 2003, reported People magazine.
"Well, I knew Zoe because I was engaged to her father. It's all in the family! I love Lenny; he's a great guy," Kidman said.
Engagement rumors surrounded the Oscar winning stars' romance in the early 2000s after she divorced Tom Cruise.
The Oscar-winning actress had previously admitted to being engaged between Cruise and her current husband Keith Urban.