The 28-year-old actress discussed her dad's past romance with Kidman, her Big Little Lies co-star, in the June 15 issue of The Edit after Kidman confirmed she was once engaged to Lenny.
"I think she forgot that no one knew that," Zoe said with a laugh. "I hadn't seen her in a long time before Big Little Lies, but there was a point where we were all kind of living together."
"I was about 13, and she would take me to see movies; she was so nice to me," she recalled.
"Well, I knew Zoe because I was engaged to her father. It's all in the family! I love Lenny; he's a great guy," the 49-year-old actress told the magazine.
Zoe is the daughter of Lenny and actress Lisa Bonet, who is now wed to actor Jason Momoa. She and Kidman played Bonnie Carlson and Celeste Wright on Big Little Lies, which may return for a second season.
"Nicole and I just spoke about it," Reese Witherspoon, who portrayed Madeline Mackenzie, told E! News in April. "We definitely left it open-ended, so there's a possibility there."
Zoe will next star with Scarlett Johansson in Rough Night, which opens in theaters Friday. She is also slated for Viena and the Fantomes with Evan Rachel Wood and Fantastic Beasts and Where to Find Them 2.