The 47-year-old actor split from Beckinsale in 2003, but with the pair co-parenting their 17-year-old daughter Lily, they have remained close.
Beckinsale, 43, is even friends with Sheen's current girlfriend Silverman, 45, and have a close-knit bond that the actor says "works pretty well", reported Female First.
Speaking to Chelsea Handler on her Netflix talk show "Chelsea", he said, "Our relationship now is probably better than it ever was. And it helps that she [Kate] actually likes Sarah more than she likes me.
The "Midnight in Paris" actor recounted a time when he dropped his car keys under his vehicle when giving Beckinsale a ride somewhere, and she filmed him crawling on the ground to try and pick them up. She sent the video to Silverman and Lily, who both mocked him about the mishap.
"That is my life now, on a day-to-day basis," he said.
Sheen split from Beckinsale 13 years ago and the actress went on to marry filmmaker Len Wiseman who she met on the set of "Underworld". The pair divorced in November 2015.
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