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The first scripted show from the E! channel, The Royals also stars Alexandra Park and Chronicles of Narnia star William Moseley as members of the British royal family.
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Elizabeth and Alexandra travelled to the Upfront event, which is held annually and showcases the upcoming schedule for each broadcaster, together.
And the pair, who play mother and daughter on the new show, both sent out Instagram snaps to their fans, revealing their close relationship.
"Finally here. Thursday E! upfronts. With my beautiful "mummy" @elizabethhurley1 THE ROYALS," Alexandra captioned her shot, which displayed the pair's likeness.
Elizabeth also took a blurry shot of the pair inside the car, writing next to the picture: "On our way to Upfront. Me and my 'daughter' the gorgeous @alexxandrapark".
Loosely based on Shakespeare's Hamlet, the show will "offer a fictional look behind the very public gilded façade of the palace gates to imagine the private, lush, fun, sexy world of the most-watched celebrity family on the planet," said E! EVP Original Programming and development Jeff Olde.
"In case you’ve forgotten, we are not a normal family", Elizabeth says as the 20-second introduction trailer opens.
We are then taken into a world of crazy and lavish royal affairs.
It's been a difficult few months for Elizabeth, who spoke exclusively to HELLO! Magazine earlier in May.
Speaking of her split with Australian cricket star Shane Warne, Elizabeth said: "We finally parted ways in November (2013) and it was a very sad time for both of us.
"I struggled for a while but feel in a very good place today. In fact, both professionally and personally everything is blooming.
"Love isn't a switch that you can turn on or off at will and of course I still love him — we are part of each other's history," she added. The two families are still in touch, and Elizabeth revealed that she plans to see Shane's three "beautiful" children — Brooke, 17, Jackson, 15, and Summer, 12 — when they come to England in the summer. Shane was also in contact with her son, 12-year-old Damian.