In his usual bohemian style, 39-year-old Kravitz wore a tiedyed shirt, snakeskin boots and beads around his neck.
Despite the lateness of the evening, he also wore his customary sunglasses as he left the restaurant, taking them off only briefly to find his limousine.
Miss Kidman, who won an Oscar for her portrayal of Virginia Woolf in The Hours, recently moved into Kravitz's Manhattan home while building work is carried out on her own £4.2million home nearby.
Currently filming The Stepford Wives in New York, she is paying almost £25,000 a month rent for the rocker's apartment.
A spokesman for Miss Kidman said Kravitz was not living at the apartment with her and the pair are just 'old friends'.
However, they have been seen partying at New York nightclub Bungalow 8 and Miss Kidman was escorted by the rocker to one of rapper P Diddy's lavish parties in the city. Kravitz has a 14-year-old daughter, Zoe, with actress Lisa Bonet, to whom he was married for five years. They divorced in 1993. He has also dated Australian singer Natalie Imbruglia.
Miss Kidman has two adopted children with her former husband Tom Cruise.