The outing marked the first time the couple has been seen together since July, and put and end to rumors that they had separated.
Depp, 50, and Heard, 27, were seen leaving Scott's Restaurant in London's Mayfair District.
The twosome met on the set of The Rum Diary in 2009, but their relationship wasn't confirmed until June 2012 after Depp announced his split from longtime love Vanessa Paradis. Nevertheless, rumors that the Pirates of The Caribbean star was dating the Zombieland starlet had been floating around since April after the two were seen holding hands at a Rolling Stones concert.
In the September 2013 issue of Flare magazine, Heard opened up about dating Depp for the first time.
“It’s not part of my professional life,” she said of her romance with the actor. “I want to be an artist. I don’t want to be a celebrity.”
"I guess I could not hold hands with who I want to, but what kind of life would that be?" she added. "I don't want to change just because people are watching."