Inside, they shared a table in the covered patio where they gazed into each other's eyes and held hands across the table. Eventually, Richards planted a kiss on Sambora's hand – and he returned the gesture, kissing hers. They then kissed again on the lips.
They left the restaurant at 5:45 p.m. in the same car together. Sambora has a home in Westlake Village.
On Friday, Richards filed a 17-page court document claiming that her estranged husband, Charlie Sheen, had threatened to kill her. The actress also claims that during their marriage, Sheen abused prescription medication, had violent mood swings, was a compulsive gambler and visited pornography Web sites featuring "very young girls." Sheen has called Richards' claims "vile" and "baseless."
Richards originally filed for divorce in March of last year, when she was six months pregnant with the couple's daughter Lola. The pair appeared to briefly reconcile after Lola's birth in June, but on Jan. 4, they requested that their divorce proceed with a private arbitrator.
In February, Sambora – who's the guitarist for Bon Jovi – split from Locklear, his wife of 11 years. The couple have an 8-year-old daughter, Ava.
Richards and Locklear are pals who grew even closer during Richards's split from Sheen. Locklear, who starred with Sheen in Spin City, attended Richards's baby shower before she gave birth to her daughter Lola – and helped take care of the baby after she was born.
Richards's rep had no comment.