The couple ended a previous yearlong romance in 2007.
Richards is divorced from actor Charlie Sheen, the father of her two daughters.
Bon Jovi musician Sambora has a daughter from his previous marriage to actress Heather Locklear.
"Things are good. I'm really happy," Sambora told the New York Post.
Asked if he is at all concerned about Sheen's reaction to their reunion, Sambora told the newspaper: "No. He's a friend of mine. I haven't talked to him. I'm sure it'll be fine."
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