Joe Jonas and Sophie Turner have a "great co-parenting relationship

He told the School of Greatness podcast: "I have a great co-parenting relationship, which is really important to me."

He described being a father to his "beautiful" children as "the greatest joy and journey", while praising the influence Sophie has on their kids.

He added: "My little ones have some incredible women to look up to, including their mom."

When Joe initially filed for divorce almost two years ago, he requested "shared parental responsibility" and a "parenting plan".

However, just two weeks after the documents were filed, the AGE-year-old actress sued her then-estranged husband over the alleged "wrongful retention" of their children in New York City, away "from their habitual residence of England".

The following month, the confirmed they had reached a custody agreement.

In a joint statement, they said at the time: "After a productive and successful mediation, we have agreed that the children will spend time equally in loving homes in both the US and the UK.

"We look forward to being great co-parents."

Despite the initial disagreements, the couple have moved on to do what's best for their children, and Joe has spoken openly about Sophie as a positive role model for their girls.

In May, he told Jay Shetty: "Having an incredible mom, Sophie, for those girls is like a dream come true. As young girls, looking up to great women is what I want for them.

"I think what values I want for them are to be open-minded and have a big heart, be able to walk into any room and feel confidence and know that they can do literally anything they want."