The 62-year-old actress waits until her husband, Michel Stern, is in bed before she puts on a couple of episodes of the sitcom, in which she played the quirky and optimistic singer-songwriter and masseuse, Phoebe Buffay.
Appearing on BBC Radio 2's The Scott Mills Breakfast Show, stand-in host Gary Davies asked what sitcoms she watched, to which she replied: "Friends at night before going to bed".
"I haven't seen a lot of episodes. I sit in the family room, and I wait until my husband goes to sleep because I'm too embarrassed for anyone to see me watching it - but I'll tell all of you!"
Kudrow didn't watch many episodes of Friends when they aired because she was too busy filming the comedy series - which followed the lives of Phoebe, Rachel Green (Jennifer Aniston), Ross Geller (David Schwimmer), Monica Geller (Courteney Cox) and Chandler Bing (Matthew Perry) living in Manhattan, New York.
"Only the first couple of seasons because we were busy. I don't think any of us watched every episode," Kudrow said.
"And we were also not hanging out watching the show as it's being shot. At first, you are. And then you're just too busy - even during the show."
Kudrow says Friends now gives her a good laugh before she heads to bed, saying she finds it "hilarious".
"If my husband comes in to get something, he's like, 'Oh, you're watching your show. Okay.' Then he watches a little. It's funny."
Kudrow has just reached the series eight finale, where Rachel and Ross welcome their daughter, Emma, into the world.
Friends ran from 1994 until 2004, with 236 episodes made, and Kudrow is proud to have been a part of the show.
"We were all really grateful. We worked really hard on our relationship, too, because we all felt like, 'This translates to, so let's be good together.'
"It was just great. Everything about it, I have to say."
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