The former Take That star, 48, and the Australian singer, 54, teamed up to do a duet on the 2000 hit single Kids and immeadiately set tongues wagging with the steamy accompanying music video.
Speaking on Scott Mills’s Radio 2 show My Life Thru A Lens on Friday, Williams was outright asked: “You and Kylie? What was going on there?”
He replied: “Not as much as I wanted to be unfortunately.
“I messed that up by being 13 whenever I was around her. It was like the girl from the year above me. ‘I don’t know how to speak to you!’
“But she’s my crush, my crush of all crushes.”
Williams wasn’t exactly subtle about his feelings for the Spinning Around hit-maker at the time either.
While he admitted he had a crush on her, he ruined any hopes of a romance by poking fun at her when she stripped off for the video.
Even though Minogue is the one that got away, things didn’t work out too badly for him in the end romance-wise.
He has been married to wife Ayda Fields for 12 years and the pair share four kids together – Teddy, nine, Charlie, seven, Coco, three, and two-year-old Beau.
Williams and actress Field first met on a blind date in 2006, during which time he was one of the most eligible bachelors in the music industry. It was’t all plain sailing however.
Speaking to The Mirror in 2009, the Angels singer admitted he had dumped Field three times in one year due to his own person trust issues.
He said: “We broke up about three times in the first year because of me not trusting and not knowing that I really needed this and really wanted it.
“I will bolt at any sign of anything. And if there wasn’t one I’d make one up. With Ayda I kept looking for one. But she just kept on being this wonderful person.”
Robbie Williams: My Life Thru a Lens is available on BBC Sounds from December 30 and airs on BBC Radio 2 on January 1 at 5pm.