"We're a family and we'll always love each other and we're going to be in each other's lives," British actor Orlando told E! at the premiere of The Hobbit: The Desolation of Smaug this week.
The couple, who announced their split in October after three years of marriage, are ensuring that their son Flynn remains their top priority.
"What (Flynn) reads and knows about when he's a grown up is more important to me that anything," his proud father added. "We both love and cherish each other, then our boy, so it's great."
Orlando's touching remarks came days after he was spotted in New York with Miranda and Flynn, who turns three in January.
On Saturday, the 36-year-old was photographed holding his little boy, who was clutching a wooden sword, and walking alongside his model ex.
That same day, Miranda, 30, shared a photo of Flynn still clutching his toy sword, watching his dad on stage — Orlando is currently starring in Romeo and Juliet on Broadway.
"Flynn having such a great time watching Daddy on stage," she wrote.