Grant and Hurley, both 55, looked friendly and casual as they walked down a tree-lined street in the English city, reported People magazine.
The "Royals" actress kept her feet cozy in furry boots, worn with a simple sweater and jeans. Grant spotted athletic shorts and sneakers.
The pair dated for 13 years, before ending the relationship in 2000. They've remained close friends in the time since - Grant is even the godfather to Hurley's son Damian, 13, with Steve Bing.