The couple were granted a decree nisi at Southampton County Court.
In a tweet, the Match of the Day presenter said they "had many wonderful years together. We remain very close and the greatest of friends."
The 36-year-old model responded saying she'd "cherish their relationship".
The pair were married in ceremony in Italy in 2009.
It was Danielle's first marriage and the 55-year-old former footballer's second following his divorce in 2006 from Michelle, the mother of his four sons.
She has a daughter from a previous relationship.
The pair were set up on a blind date back in 2007. Danielle was a former Virgin Atlantic air stewardess who has since become a successful lingerie model.
She's appeared in the TV cooking show Hell's Kitchen and been a panellist on Loose Women.
