The 45-year-old actress posted a rare picture with the 51-year-old actor and daughters Sam, 12, Lola, 11, and Eloise, 5, on Instagram. Richards shares Sam and Lola with Sheen, and adopted Eloise as a single mother.
"We've had a colorful year ...at the end of the day we're still a family.. @charliesheen #familydinner," she captioned the picture Tuesday.
Richards and Sheen have had a turbulent relationship since splitting in 2005 after less than three years of marriage. The actress claimed in 2016 that Sheen threatened to kill her and Lola and evicted them from their Beverly Hills home.
"I'm basically being punished for giving her a house," Sheen said on The Dr. Oz Show in February. "I would never speak about any of my children like that, ever. And I would never threaten their mom. That's not who I am. I wouldn't do that."
Sheen is also dad to 32-year-old daughter Cassandra with ex-girlfriend Paula Profit and 7-year-old twin sons Bob and Max with ex-wife Brooke Mueller. He made headlines earlier this week for sharing a photo with Sam.
"Sami: So how was your day dad? dad: well sweetie, it went a little something like this..." the star captioned the picture.