The 53-year-old actor also spoke at the event in St Paul, Minnesota.
It's been a few months since fans have seen Johnny Depp posing on a red carpet.
In what was Depp's first red carpet appearance since Amber Heard filed for divorce and was granted a temporary restraining order against him, the 53-year-old actor attended the 2016 Starkey Hearing Foundation's So the World May Hear Awards on Sunday, and posed with his Hollywood Vampires bandmate, Alice Cooper, and the rocker's wife, Sheryl Goddard.
While at the event, Depp and Cooper spoke to the star-studded audience, which included Jennifer Garner, Jay Leno and Buzz Aldrin, about why the charity meant so much to them. "I've been lucky enough to play characters like Edward Scissorhands [and] Captain Jack Sparrow," Depp said. "My only sort of goal is of making someday a positive change."
In May, while in Lisbon, Portugal, Depp and his band helped fit and adjust free hearing aids to 30 patients from Santa Casa da Misericordia de Lisboa, a Catholic charity organization, in support of the Starkey Hearing Foundation Hearing Mission. "It was an emotional experience, the instant change in a person's face when they've only known silence," Depp recalled at Sunday's gala. "It's a gift, an incredible moment you never forget."
Later in the evening, Cooper and Depp took the stage to perform with the Hollywood Vampires, and reportedly dedicated the song "Sweet Emotion" to their guitarist, Joe Perry, who has not played with the band since collapsing onstage in New York earlier this month. The group assured fans that Perry would "be back soon."
In June, Depp gave his first interview since the divorce drama between him and Heard, and spoke about the downside of being a celebrity. "The drag is all the hoopla that happens," he explained. "I like the process of it... I don't wanna be a product. ...I don't watch the movies, so for me, all I have is the experience."
In addition to this soiree, the Bridgehampton Benefit is hosting A Night Under the Stars on Saturday, Aug. 6, that will also benefit the Starkey Hearing Foundation. Orange Is the New Black actress Dascha Polanco, rapper 50 Cent and Austin Powers star Verne "Mini Me" Troyer are among the special guests to attend. The event will include a fashion show, an art auction and an exotic classic car show.