The singer stepped into the role of Princess Fiona in the West End production, replacing pregnant Britain's Got Talent judge Amanda Holden.
The trio posed for photographers, while Cole also tweeted a picture of herself and Walsh, captioning it: "Me and my Princess Fiona <3. (sic)"
Photographs show Cole giving Walsh a standing ovation while cheering her on inside the Theatre Royal Drury Lane.
Writing afterwards, the 'Promise This' star added: "Kimberley absolutely Killed it.. What a great show !!" Offering her own praise for Walsh, Roberts added: "Kimberley Walsh.... You absolutely smashed it! I'm sooooooo proud of you."
Holden gave her final performance on Monday night, describing it as the "MOST amazing night".
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Watch a trailer for Shrek: The Musical below: