The 71-year-old comedian and television personality interviewed the Queen of Pop, 65, on camera for the BBC to promote her Bedtime Stories album in 1994, and she has branded the Like a Virgin singer dishonest.
"She kept saying which camera she wanted," Ruby told Heat magazine.
"I had to make sure she wasn't insulted because she was ready for an insult or a hardball question to be thrown.
"She was totally defensive, and that's not a way to do an interview."
The author tried to make light of the situation by cracking jokes but it did not make things any easier.
Ruby Wax (left, with Macy Gray) says she thought she and Madonna would get on like a house on fire. (Julian Smith/AAP PHOTOS)
Wax said she tried to put Madonna at ease.
"I tried to make her laugh and then I tried to take her seriously, except I was doing an entertainment show, so I had to keep it funny," she said.
"She was answering me in a kind of snide way and not being honest.
"I can only be honest, so it was a car crash.
"I think, in the end, she thought I was funny in a goofy kind of way but she couldn't get serious."
Wax went into the interview thinking she would get on like a house of fire with the Vogue singer.
"I thought we were going to bond but she hated me on sight," she previously shared on The Matt Lucas Awards show.
At the end of the disastrous interview, the funny woman put Madonna's underwear on her head.
"She left her handbag so I rifled through it and found some of her underpants and put them on my head and started doing some comedy," Wax said.
"Madonna looked into the room and saw it.
"She has never called me since.
"As for her pants, they were like a piece of dental floss with some cotton and some frills."
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