January 29, 2013 at 12:00 PM EST

Actress and humanitarian Ashley Judd and Scottish IndyCar driver Dario Franchitti announced the end of their marriage Tuesday.

“We have mutually decided to end our marriage. We’ll always be family and continue to cherish our relationship based on the special love, integrity, and respect we have always enjoyed,” they told People in an exclusive statement.

The couple had been married for over 10 years. They have no children.

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