Baywatch actor David Hasselhoff is engaged to his Welsh girlfriend Hayley Roberts.

The 63-year-old revealed he asked Hayley, 36, to marry him with a romantic proposal during a beachside picnic in Malibu.

The Hollywood star, known as The Hoff, met Hayley when he was in the UK as a judge on Britain’s Got Talent.

David and Hayley are engaged (Hello!)(Hello!)

He told Hello! magazine: “I had a saying, ‘You don’t get married because you want to live with someone, you get married because you can’t live without them’.

“I felt that way. I knew that I was really unhappy without her. I waited to propose because I thought I was too old for her.”

Hayley recalled the emotional moment and said they were both in tears.

She said: “I genuinely had no idea he was going to do that. I’m still so overwhelmed.”

Knight Rider star David has jokingly proposed to her a few times during their five-year relationship.

“I thought he was just joking around at first. He’s asked me before, but it was never for real,” she recalled.

“Then he pulled out the ring. I cried so hard that he didn’t get around to actually asking, ‘Will you marry me?’ until about 10 minutes later.”

Hayley added that their 27-year age gap does not worry her.

Hello! Magazine Cover (Hello!)

“I don’t want to miss out on being with someone I love because of what might happen down the line,” she told Hello!.

This will be David’s third marriage. He has two daughters, Hayley and Taylor-Ann, from his previous marriage to actress Pamela Bach.

Read the full article in Hello! out now.