The King of Pop befriended the singer in the early 1990s and several dates followed, but Jackson revealed he never had any romantic interest in her during a taped conversation with his close friend Rabbi Shmuley Boteach.
Jackson told Boteach, "I think she (Madonna) likes shock value and she knows how to push buttons on people. I think she was sincerely in love with me and I was not in love with her. She did a lot of crazy things. I knew we had nothing in common.
"She is not sexy at all. I think sexy comes from the heart in the way you present yourself."
The Thriller icon believed Madonna was one of several stars who envied his fame: "They admire you and know you are wonderful and great because they are jealous, because they wish they were in your shoes. Madonna is one of them. She is jealous. She is a girl, a woman and I think that's what bothers her...
"I get the fainting and adulation and she doesn't."
The star went on to confess he had considered dating actress Elizabeth Taylor but feared the media would mock their 27-year age gap.
He said, "I know that if we ever did anything romantically the press would be so mean and nasty and call us the Odd Couple. It would turn into a circus and that's the pain of it all."
Jackson also described the late Princess Diana as his ideal woman: "I thought she was very special - very feminine and classy. She was my type for sure, and I don't like most girls. There are very few I like who fit the mould. It takes a very special mould to make me happy and she was one of them."
Boteach, who is publishing the conversations, maintains Jackson wanted the footage to be released to the public so his fans could gain a better understanding of his personal life.
I hope all the Diana and Michael stans can hush up now lol JK not really