Charlie Sheen says there's "nothing better" than cheering on his daughter at her soccer match.

The former 'Two and a Half Men' actor joined ex-wife Denise Richards over the weekend to watch their seven-year-old girl, Sam, take part in her game and admits it was his perfect day.

Denise - who was also joined on the sidelines by her and Charlie's six-year-old daughter, Lola, and her adopted three-month-old baby Eloise - tweeted: "Just got back from Sami's soccer game. She did great.Happy to see Charlie Sheen cheer her on. Proud parents."

To which Charlie replied: "Nothing better!"

Despite divorcing five years ago, Charlie - who also has two-year-old twin sons, Bob and Max, with third wife Brooke Mueller and a grown up daughter, Cassandra, from his first marriage - and Denise have remained friends for the sake of their daughters, but the actress recently insisted they would never get back together.

The 39-year-old beauty said: "That door is closed. I think he and I are better as friends and having our daughters. I'm way too old for him now. I'm way past his age range.

"I take it day by day. One day at a time. I think it's not about he and I truly. It's about the kids.

"His lifestyle's his lifestyle. And I've learned to accept it, even if I agree or don't agree with it. It doesn't matter. So times where things are very calm and cordial with us, I really relish those times, because it's so much better for our kids."