"Of course I met Kris [Jenner] back then," Darden told ET at his home in Chatsworth, California, on Monday. "Of course I knew Robert [Kardashian]."
Robert Kardashian -- the late father of Kourtney, Khloe, Kim and Rob Kardashian -- gained national recognition in 1994 when he joined Simpson's defense squad, aka the "Dream Team," which also included high-profile lawyers Johnnie Cochran, Robert Shapiro, Carl E. Douglas and F. Lee Bailey. Kardashian reactivated his license to practice law to solely to help out on the case -- in which Simpson was accused of murdering his ex-wife, Nicole Brown Simpson, and her friend, Ronald Goldman -- as he and ex-wife Kris Jenner were close personal friends with the Simpsons.
As seen on the show, the Kardashians were just little kids at the time, getting excited whenever they saw any sight of their dad (played by David Schwimmer) on TV.
"I recall one day -- I believe there was one day [Kris] brought the children with her," Darden explained. "They were in the [District Attorney]'s office as I recall. [It was] early on in the trial, but they were little kids."
Darden has chosen not to watch the FX miniseries -- telling ET he doesn't think he has "any responsibility in terms of watching" -- but it seems he hasn't had much luck escaping the case or the Kardashians.
"I lived across the street from Khole and Lamar [Odom] for a while," he revealed. "Yeah, up in Tarzana. And my son, Chace, and I, we met Lamar down the street at the doughnut shop one day. The morning before a game 7 championship game."
So how does he feel about their massive rise to fame?
"What do I think about the Kardashians? I think, 'God bless America,'" Darden said. "I ain't mad at them."
Another major theme that plays out on The People v. O.J. Simpson is Darden's rumored romance with lead prosecutor, Marcia Clark. Sterling K. Brown and Sarah Paulson -- who play Darden and Clark, respectively, on the popular series -- appear quite flirty onscreen, but Darden played coy while chatting with ET about what their real-life relationship was like during the trial.
"People wanted there to be something more there, because it was just a terrible, terrible crime," Darden explained. "I felt like her protector, and I felt like the protector of all of my staff and the whole prosecution team. In a way, they were my responsibility... That was my crew."
To hear more of Darden's exclusive interview with ET, including his thoughts on that infamous moment when he asked Simpson to try on the black glove obtained from the crime scene, watch the video below.
The People v. O.J. Simpson: American Crime Story airs Tuesdays at 10 p.m. ET/PT on FX.