The girls, who met the Queen at the Royal Variety Performance earlier this week, dined out at exclusive eatery Zuma in Mayfair yesterday evening.
Cole, 29, wore a butter-coloured tight-fitting leather dress, while Strictly Come Dancing star Walsh donned skin-tight leather trousers.
Meanwhile, Roberts wore an over-sized knitted jumper and pleated leather skirt.
Taking to Twitter after their meal, Cole wrote: "Almost ate myself to death with the girls @KimberleyJWalsh @NicolaRoberts why did we do the desserts ???"
Walsh responded: "Asking myself the same question! Time to undo the leather trousers I think."
Girls Aloud recently added another London date to their upcoming UK tour.