Timberlake was performing on stage with Jackson at the 2004 Super Bowl half-time show when he ripped open her jacket to reveal her naked breast.
The incident resulted in the exposure of Jackson’s nipple to an estimated 140m TV viewers of the CBS show.
Timberlake said at the time that he had no idea that Jackson was topless and distanced himself from the furore.
According to Entertainment Weekly, the 28-year-old said that he regrets the way that he handled the situation.
“I wish I had supported Janet more. I am not sorry I apologised, but I wish I had been there more for Janet,” he said.