It’s believed the split is amicable.
It has been confirmed by a representative of Minogue to the London Sun newspaper.
Minogue and Velencoso, who is based in Spain, are often apart.
She is working on a new album in the United States but often travels all around the world for work.
He has his own cafe in Spain. The singer often spoke of the calming influence that Velencoso had on her.
“I have had boyfriends who have stressed me out and he doesn’t,” she told the Herald Sun in 2010.
“He is easy going, funny, loving and really supportive.
‘We both work at finding gaps in our schedule.
“That’s a logistic in our lives.”
Velencoso often travelled to Australia with Minogue, including the last time she toured here in 2011.
He briefly featured in that concert in one of the video montages. In the past she has had long term relationships, including with Jason Donovan and actor Olivier Martinez.
The split comes as Minogue prepares for a new career move – as a judge on The Voice in the UK.
The new album is expected to be out next year.