The 'Modern Family' star, who plays Haley Dunphy in the comedy series, recently decided to end her five-year relationship with the 24-year-old actor, but still considers him a good friend.
A spokesperson for the 23-year-old actress confirmed the news, and a source told UsMagazine.com: ''Sarah's doing fine. It didn't work out. She's young. They decided they would be better off as friends.''
The former couple started dating after meeting while auditioning for 'High School Musical 3: Senior Year' in 2008. They later starred together in the Disney Channel film 'Geek Charming' in 2011.
The duo also lived together in Los Angeles and shared a four-year-old Maltipoo, Barkley Bixby.
She said: ''I think they are super hot together. I know Joe, and he is divine.
''He played my boyfriend's dad in an episode of 'Medium', so we've known him for quite some time. He's just an amazing person, and I love them individually. So him and Sofia together, I'm all for it! They'd make really hot babies!''