Coco was heavily criticized after she shared a photo of her breastfeeding then 2-year-old Chanel in May.
Coco, 39, and Ice-T, 60, are unapologetic that Chanel still suckles at her mommy's breast.
Ice-T, who stars in TV's Law & Order: SVU, told PEOPLE, "It's a comfort thing," for both mother and daughter.
"Coco absolutely breastfeeds because she just wanted that mama connection with the baby," he said. "And now Chanel doesn't breastfeed, but she wants the boob sometimes. It's a moment where it'll calm you down. But when people say, 'Oh, Coco's still breastfeeding.' It's not that. Chanel's drinking everything in the refrigerator right now."
Ice-T added that Chanel's been on other forms of liquid nutrition since she was about 18 months. "She went to formula and other things. It's more of a baby's way of getting comfort from the mother."
It isn't clear if Chanel is eating solid food yet.
Ice-T also revealed that Chanel shares the couple's bed.
"Chanel's still in the bed with us now," he said. "She worked her way into the bed. But we love it! The thing is, she sleeps in her room but as soon as she wakes up, she's on her way up to us anyway. We put her to sleep in her bedroom and then maybe 2, 3 in the morning, she might wake up. So it's not that serious.”
Coco and Ice-T attended the Friends Of The Saban Community Clinic's 42nd Annual Gala at The Beverly Hilton Hotel on Monday, Nov. 12, in Beverly Hills.
Photos by Jon Kopaloff/Getty Images, Jon Kopaloff/Getty Images