Denise Richards felt she had to "suck it up" when she realised Charlie Sheen had brought two prostitutes to a family dinner.

The 40-year-old actress and her ex-husband were enjoying a break in New York with their daughters Sam, seven, and six-year-old Lola last November and while she was surprised by her former spouse's dining companions, she insists she did not "judge" the escorts.

Recalling the meal - which took place before the actor trashed his hotel room and allegedly held a knife to porn star Capri Anderson's throat - Denise said: "Charlie invited me to this dinner with 'friends,' and once I realised what these women did for a living, I thought, 'It's one meal; you can suck it up and get through it.'

"It's not my place to judge how they make a paycheque."

Denise - who recently adopted a baby girl named Eloise - also recalled the incident in her new book, 'Real Girl Next Door' admitting she accompanied Charlie to hospital after emergency services were called following the disturbance in his room and ensured he was "stable and settled" before returning to the hotel

She wrote: "After I quieted our daughters down, I climbed into bed; I had to get up early for my press. About an hour later, I was awakened by sounds outside my door, including walkie-talkies, which is never a good sign.

"A few minutes later, the cops showed up. Several officers went into Charlie's room, and a sergeant came into mine.

"Charlie was put into an ambulance, and I rode with the sergeant to the hospital, though I insisted I had to be back at 4:30 am. After making sure Charlie was stable and settled, the nice policeman gave me a ride back."

Despite their previous problems, Denise insists she would never cut off contact with 45-year-old Charlie, who she divorced six years ago, because of their children.

She told Us Weekly magazine: "I'll never cut off contact with Charlie. He's my girls' dad. As they're older they'll deal with him how they can.

"A lot of women can't relate to being married to Charlie Sheen or divorcing Charlie Sheen but they can relate to feeling sad, angry, scared and upset."