Nicole Richie & Joel Madden Enjoy a Family Day at the Zoo

Harlow Madden, Joel Madden, Sparrow Madden and Nicole Richie, with Yindi the koala in the background

Courtesy Taronga Zoo

updated 05/16/2012 AT 5:30 PM ET

originally published 05/16/2012 AT 4:00 PM ET

Nicole Richie is going wild Down Under.

The star, who is in Sydney with husband Joel Madden, a judge on The Voice Australia, spent a family day at the Taronga Zoo with children Harlow, 4, and Sparrow, 2.

They met a friendly giraffe and took turns feeding the animal carrots by hand. Both young and old seemed thrilled by the encounter: The children were googly-eyed, while Richie looked awed as she took photos of the giraffe on her phone.

Later, the group had a special meeting with another zoo resident, Yindi the koala.

“Thanks [Taronga] Zoo for having us today with the kids,” Madden Tweeted. “They are still buzzing from it. Can’t get enough. We’ll be back fo sho.”

The Richie-Maddens meet a giraffe

Beverly News

[RELATED_TEXT “Can’t get enough pet news? See more on PEOPLE Pets

• Charlize Theron Reveals Her True Prince Charming

• George Clooney Goes Barefoot on the Beach with an Adorable Dog” “” ]