"I f---ed my chances of ever sleeping with Kylie Minogue," Robbie laments to TheFIX on the phone from LA, where he is based.
While filming the clip for their 2000 duet 'Kids' (scroll down to watch), Kylie disrobed in front of a stunned, drunk Robbie waiting in the spa.
"I just pointed at her and laughed!" Robbie reveals.
"I think she quite rightly felt a bit sensitive about me pointing and laughing at her, because I was really f---ing drunk and Kylie Minogue got naked, and I'm like, 'As if my life wasn't surreal enough'."
"It was out of shock more than anything. She'd be lucky to get me pointing and laughing at her now!"
Robbie has mentioned the incident before in less detail, but now sees 'Kids' in a new light after having a kid of his own, one-month-old Theodora, to wife Ayda Field.
"Don't mind doing it for the kids? It brings on a whole different meaning when daddy goes to work, there's a mouth to feed, a point to life, a reason to do things," he shares.
"I suppose that song in itself means a great deal now for all of those reasons."
Robbie adds that it's "amazing being a dad full stop", and he'll definitely get a tattoo inspired by his daughter.
"I think I might wait till she's a little bit older and then get her to draw on me, and then I'll get tattooed what she draws," he says. "Whatever she does I'm sure it'll be cute".
Three years since his last album Reality Killed The Video Star, and following on from a Take That reunion tour, Robbie is back doing what he does best on his ninth studio album, Take The Crown.
"I've never had an album before where there's such a variety of choice for me to pick singles," Robbie tells TheFIX.
Take The Crown refers to Robbie's ambition to return to being the world's biggest pop star.
"I'm taking the crown from me," he explains the album title.
"I purposefully called my album something obnoxious so that I have to live up to it for the next 18 or so months as I go on tour with it."
"Yes! Funnily enough, yeah, I'm not gonna lie. Exactly who I thought it was about!" Robbie exclaims.
"Well, it's not Kim Kardashian per se, but the song is indicative of the kind of person that goes out in Los Angeles. Self-centred, uninteresting … I'm gonna get myself into trouble.
"I don't want to say that about Kim Kardashian because she's got enough people that slag her off … she's got a great career, she's making her way in the world, she's got a lovely a-- and great t---. So big up to Kim Kardashian, I think she's great!"
Robbie assures Australian fans he'll be back on our shores again soon.
"I'm thinking I'll be here for your summer next year," he adds. "I want to come down to Australia and perform for people again, I love it down there."
Robbie's new single 'Candy' is out now. 'Take The Crown' is out November 2.
Watch Robbie's clip for 'Candy':
Check out Robbie and Kylie's 'Kids':