The couple, currently in the midst of planning their wedding, looked locked into one another as they waited for their car at valet after enjoying a quiet dinner together at Giorgio Baldi in Santa Monica.
The former Friends star, 50, was wearing black and sporting matching glasses, while McDaid, 38, was dressed in a black T-shirt, jeans and jacket.
McDaid popped the question to Cox last June.
Cox told PEOPLE in April that her soul mate was a very sensitive soul and that she realized he was the one for her "when I knew … he was just a loving person with a wonderful family, with a beautiful set of friends. Then I was like, 'This is for real!'"
McDaid told PEOPLE in April, "I just want to be with this woman for the rest of my life. That is all that matters. The ceremonies are academic."
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Cox's ex-husband David Arquette married Christina McLarty in April.