The Hollywood starlets hit the beach on their Hawaiian vacation, relaxing on the sand and taking dips in the Pacific Ocean.
Benson, 24, shared a photo with her PLL pal via Instagram on Monday. Captioned simply with the palm tree emoji, the picture shows Benson and Mitchell, 27, in vacation mode, wearing bikinis and cover ups, sunglasses, and beachy hairstyles.
The women were later snapped by paparazzi on the beach in Hawaii, where they are spending seven days on a break from promoting the current season of their ABC Family show.
California-born Benson went simple in a black triangle-cut bikini top with patterned navy blue string bikini bottoms. She protected her eyes with a pair of round brown aviator sunglasses.
Canadian star Mitchell was summer-ready in a light blue printed CM Beachwear bikini with multicolor accents. She wore her hair down and shielded her face from the sun in a pair of mirrored shades.
After getting to know one another on the set of Pretty Little Liars, which debuted in June 2010, Mitchell and Benson became fast friends. The Hawaiian vacation is just one of many excursions the pals have taken together, most recently traveling to California for a long weekend in May.
In a 2013 interview with Seventeen, Benson called Mitchell one of her best friends, and Mitchell later returned the favor, saying it was "love at first sight" when she met Benson, and adding that the blonde actress is like her sister.