Kylie Minogue and Chris Martin: Long-time friends pictured on late-night stroll after Hyde Park gig

Musicians Chris Martin and Kylie Minogue – who have managed to maintain a close friendship in the midst of their busy showbiz lives as the pair – have been spotted spending time together in London.

Following 47-year-old Minogue's headline performance at the British Summer Time Hyde Park concert on 21 June, the pop singer and the Coldplay frontman were pictured enjoying a "moonlit stroll" around the capital.

In images published by The Sun newspaper, the Spinning Around singer can be seen locking arms with the father-of-two as they walk past iconic London landmarks including Buckingham Palace, Parliament and St James's Park.

An eyewitness told the publication: "They were in their own little world, they seemed oblivious to anyone around them.

"They've been close for years and were celebrating Kylie's Hyde Park gig privately."

According to the newspaper, the late-night stroll took place at around 1am, after Minogue's headline set wrapped up.

The pair are known to have had a close friendship for many years and the former Voice coach collaborated with Coldplay in 2008 on the track Lhuna.

The Australian hitmaker also joined the British band on-stage at their Sydney concert in June 2014 where they duetted on her singles Can't Get You Out Of My Head and Where The Wild Roses Grow, which originally featured Nick Cave.

It is not thought there is a romantic link between the singers with Martin, 38, believed to be dating Hunger Games actress Jennifer Lawrence following his split from ex-wife Gwyneth Paltrow.

Minogue is currently single after ending her relationship with model Andres Velencoso in 2014, after more than five years together.