The 36-year-old actor - who has a two-year-old son Flynn with the brunette beauty - split from the supermodel in October but the hunk insists he will always care about the 36-year-old stunner because they are a "family".
Speaking at the premiere of 'The Hobbit: The Desolation of Smaug' - in which Orlando reprises his role as Legolas - in Los Angeles last night (02.12.13), he told E!: "We're a family and we'll always love each other and we're going to be in each other's lives."
Despite their split after three years of marriage, Orlando also admitted the former couple are keen to remain amicable for the sake of Flynn because they don't want him to grow up reading bad things about his parents.
He added: "What [Flynn] reads and knows about when he's a grown up is more important to me than anything.
"We both love and cherish each other and then our boy so it's great."
Orlando's comments come after Miranda was romantically linked to her long-time friend, Australian billionaire James Packer, earlier this month.
James, 46, split from his model wife, Erica Baxter, three months ago.