The actress, who is mum to Theodora Rose, 3, and Charlton Valentine, 19 months, with the pop star, made the admission in the context of a conversation about a woman who regularly breastfed her adult boyfriend, but made it clear that the instance in which Robbie had tasted the milk was very different.
'I work far too hard for that milk to waste it in a latte, or my husband!' Ayda exclaimed, but when questioned further by the panel if she'd ever let Robbie 'have a little taste', she nodded 'I have'.
Ayda said that Robbie had tried her breast milk, but stressed that they did not have 'night time feeds or anything'
'I know lots of women do,' Ruth Langsford assured her, whilst Ayda added, ''I didn't have him try it off the teat!'
'It was one of those, I wonder what this tastes like, this must be good, and you know, a little squeeze and ooh, it's sweet. But we didn't carry it forward, we don't have night time feeds or anything,' she explained.
Saira Khan then told the group that her husband Steve had also tasted her breast milk, saying, 'I just put it in his tea, I just wanted to see if he'd actually notice!'
Ayda and the rest of the Loose Women team were debating the idea of 'adult breastfeeding'
The conversation continued in an intimate manner, with Ayda saying that now she's a mother, she's often too tired to to have sex.
Speaking in reference to Saira's previous revelation that she's lost her libido, Ayda said to her fellow presenter, 'I find your honesty really refreshing. It's a dialogue that some women don't feel comfortable having about but it's something that a lot of us experience.'
'I've got two young kids, I'm knackered, I'm really tired, I want to put some sweat pants on, I want to eat chocolate and I want to go to sleep, and sleep under the covers in the foetal position.'