Police were called after Brooke Mueller, was spotted walking barefoot and looking confused with Bob and Max, seven, in Salt Lake City, Utah during the week but Charlie insisted the boys are fine.
Speaking to TMZ, he said: "They're good. It could have been a lot worse. Brooke's good, the kids are good, it's all fine."
Although Charlie revealed he did not speak to his ex-wife directly after the incident, he said he had been in touch with someone "right next to her".
According to The Utah Department of Public Safety, they received a call from Brooke's mother altering them to her odd behaviour.
The State Bureau of Investigation are now looking into the incident and officials have told E! News that Brooke and Charlie's twins are not in danger.
In a statement, they said: "On the morning of November 16, dispatchers with the Utah Department of Public Safety received a welfare check call from a woman claiming to be the mother of Brooke Mueller.
"Troopers with the Utah Highway Patrol responded to the welfare check call and located Mueller, her two children and a nanny on Interstate 15 near Nephi, Utah. The children are safe and will be released to family. Mueller was taken to an area hospital for evaluation. The State Bureau of Investigation is currently investigating the incident. We do not have any more information to release at this time."
Brooke, 39, reportedly got into a heated argument with her nanny at a bar and police searched into the early hours of the morning.
It comes following the news that 51-year-old Charlie - who is living with HIV - has slashed his support payments to Brooke and his other ex-wife Denise Richards in half.
The 'Two And A Half Men' star - who has daughters Sam, 12, and Lola, 11, with Denise and also Cassandra, 31, with his ex-partner Paula Profit - is having "financial trouble" and has cut the huge sum of money he was parting with each month for the upkeep of his kids.
Charlie has come to an agreement to pay "around $25,000 a month" to the pair, who were said to be receiving $55,000 each up until now.