"Keeping Up with the Kardashians" stars Kris and Bruce Jenner announced Tuesday that they have separated, according to Reuters.  

Olympic gold medalist Bruce Jenner and Kris Jenner have been married 22 years, and they have two daughters together, models Kendall and Kylie, who also appear alongside their half-sisters Kim, Kourtney and Khloe in a reality TV program documenting the lifestyle of the family.

Kris, who has had her share of controversies, said that there was no animosity between Bruce and her.  She said in a statement to E!Online, "We are living separately and we are much happier this way." The couple reportedly split a year ago, but had kept the separation a secret.

The 57-year-old talk show host is eagerly anticipating a renewal of her contract with Fox TV for the show, "Kris," which had a trial run for six weeks. It was on this show that Kanye West first revealed a photo of baby North, his daughter with Kim Kardashian.  

Bruce Jenner is a known athlete, having won the gold medal during the 1976 Summer Olympics in Montreal, Canada for the decathlon event. He has appeared with the Kardashian girls in the reality TV show, and seems to have a good relationship with them.

Kris Jenner was first married to lawyer Robert Kardashian, who died in 1993 from esophageal cancer. He served as defense attorney for O.J. Simpson in the controversial 1995 murder trial.

In a joint statement, the Jenners said that, "We will always have much love and respect for each other. Even though we are separated, we will always remain best friends and, as always, our family will remain our number one priority," reports NY Daily News.

The couple has no prenuptial agreement and there's speculation that their $125-million fortune may get turn the seemingly quite and peaceful divorce into a messy one.