The Formula One driver took to Twitter to share photos, which were taken in Venice, Italy and New York, from the celebrations to fans, reported Ace Showbiz.
"Better late than never. Nicole Scherzinger and I in Venice for our 6th Anniversary. #goodtimes #godisthegreatest," he captioned one photo collage.
It shows the couple riding a gondola, posing with a glass of cocktail and Scherzinger standing with a background of beautiful sea.
The second collage sees the couple riding bikes on a sunny day, posing together with the background of a beach and sitting around a table.
His girlfriend re-uploaded the photos on her Instagram account.
Hamilton, 29, and the former member of The Pussycat Dolls met at the European Music Awards in Munich in November 2007. They have been dating on-and-off since then.
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