Ava posed for pictures with her mom, the 52-year-old former "Melrose Place" star, and her 54-year-old rocker dad at the celebration, while US Weekly reported that all three appeared in "great spirits."
The Bon Jovi guitarist has said previously that he and his ex-wife still hang out with their daughter as a family.
"We're very good. It's actually even beyond for [our daughter's] sake," Richie told Access Hollywood last year. "Heather and I really respect each other, and we've become better friends, I think, now that we're not married."
Sambora and Locklear ended their 13-year marriage in 2007. Sambora controversially dated Locklear's friend Denise Richards soon afterward.
Ava, an aspiring actress, recently told Teen Vogue that she's only nervous about her career "in front of family and friends, because I want to impress them."
"I'm very on top of it with people I don't know," she said.