The pair had a ten-day relationship in May last year, but reportedly remain in touch with each other.
The socialite told The Mirror, "Robbie texts me all the time now. I've known him for three years and we are still close.
"Robbie has to share himself with millions of people and I'm lucky he's got time for me."
Robbie Williams has suffered from depression in the past, but Palmer-Tompkinson said: "He's told me he's over his stress now. People have a go at him for being ratty but it's no wonder because he's always surrounded by so many people who want a piece of him."