The former show contestant told Metro that Minogue got in touch after the launch of his first solo track 'Is This Love?'.
"I don't think she had me on speed dial," Grimshaw quipped.
"I came ninth, so it would be hard for her to keep in touch with everyone. When the single came out, she sent me a nice text."
Of whether he was still friendly with 2010 show winner Matt Cardle he added: "We are still friends but we don't see each other as much as we did.
"He's been busy the past couple of years and I've been sitting on my bum."
Asked what he made of Cardle's current career situation, Grimshaw said: "The being dropped thing? I don't know. I've spoken to him and he seems happy.
"I've been lucky in the way it's happened to me. Some people think you're better off not being the winner - they bring out a CD but it's not really their own, it's 'The X Factor winner'.
"He's said he's been writing some good songs, so I hope he does well. We try to avoid work talk."
Watch the Aiden Grimshaw 'Curtain Call' music video below: