Ayda Field and Robbie Williams on family holiday in Formentera

She's known for her love of working out, namely pilates and Ayda Field looked incredible when she headed out into the sunshine with Robbie Williams and the rest of her family in Formentera on Friday.

The couple enjoyed a boat ride together and Robbie, 45, was caught seriously checking out his 40-year-old wife as they topped up their tan together.

Ayda opted to wear a miniscule dark green bikini which showed off her incredible abs and Robbie wore a pair of bright blue shorts, showing off his famous inkings.

So into her: Robbie Williams couldn't keep his hands (or his eyes) off his wife Ayda Field while on their family holiday in Formentera on Friday

The Angels and Millennium singer got a little touchy feely as he showed some affection for his delighted wife.

The pair, who appeared together as X-Factor judges in 2018 were rumoured to be stepping down due to other commitments after their successful stint on the show.

So no doubt Robbie was enjoying the break by showing off his diving skills jumping off his luxury yacht.

It would seem Robbie was keen to impress and was even spotted with his snorkel mask whilst a more chilled out Ayda took everything in her stride as she relaxed taking in the Spanish sunshine on the beach.

The couple had a few friends with them on board the yacht they have been renting, as well as their children

Are you going to jump in? Robbie's pal pointed to the water as he looked on with his kiddies

One for the album: Robbie did an almighty leap into the water and achieved some great heights

Making a splash: Ayda took a picture on her camera of Robbie's big jump (left) while their children looked on

That's one way to get attention: Robbie soared to great heights as the rest of the group looked on

Having his very own Bond moment: Robbie looked incredible sexy as he got back on the boat and dried himself down

Ayda later took her friends to a market in Ibiza, where she went shopping for sundresses, while wearing a Hawaiian style playsuit with backless suede shoes.

Mother-of-three Ayda has been documenting the trip at sea for her social media fans to see and posted a playful video of her other half propelling himself off the side of their boat, and into the crystal blue waters below.

The loved-up couple share daughters Teddy, six, and 10-month-old Colette as well as their son Charlton, four, who seemed to enjoy the activities.

He simply can't get enough of her: Robbie placed his hand above his wife's bottom as she sunbathed on the sand

Love: It's clear to see the pair are still super close as Ayda placed one hand lovingly on her husband's chest

Doting daddy: Robbie carried little Coco's carrier as they travelled by dinghy to the beach

In sync: Robbie and Ayda looked like they had stepped straight off the pages of a fashion magazine as they kept a watchful eye of their children

Wow thing: Ayda looked amazing as she got up from her towel

Ayda's posts comes after she displayed her slender physique in a red and white striped bikini as she rested her head against a palm tree.

The American star teamed her two-piece with a white summer hat and let her dark locks cascade down her shoulders as she soaked in the rays.

In another picture, the star appeared calm and relaxed as she lay on a sun lounger alongside Robbie with a glass of champagne in her hand.

The stunning bikini shot comes a week after Ayda revealed that she and Robbie were to renew their wedding vows after he popped the question once again on her 40th birthday.

I don't wanna rock DJ: Robbie looked like he was ready to party with his shades on

Snap happy: Ayda was taking lots of photos for her social media while on deck

That's going to hurt: Robbie landed into the water rather awkwardly at one point

Giving E.T. a run for his money: Robbie covered his head with a towel for an unknown reason

Speaking to the Loose Women panel last Tuesday, she said: 'I will be renewing my vows. Teddy's going to be like "this is it" and thoroughly underwhelmed. I need a tiara, I need bridesmaids.

'You know our first wedding was small so we need a big dress. We haven't planned it, he surprised me at my birthday with the proposal so I'm excited but I think I'll be doing all the planning, this was at my fortieth. I had no idea he was going to that!'

The pair, who first began dating in 2006, married each other in an intimate ceremony at Robbie's home in Mulholland Estates, Beverly Hills, Los Angeles in 2010.