The 53-year-old admitted it has been the "worst week of her life" after being targeted by cruel trolls who told her to "die like her sister".
Her emotional appearance came after 23,000 people signed a petition to sack her following the argument.
Weeping as she chatted to Holly Willoughby and Phillip Schofield, she said: "Honestly I don’t know what to say.
"If I could go back in time I would change the whole thing because it was never meant to be like that. I honestly, genuinely thought that it was… she was coming on to make amends, that’s what I was told that was going to happen. And then we were going to have a laugh about it and make amends.
"So it was like, let’s put it to bed, let’s have a laugh about it, let’s make amends. And it didn’t go that way, obviously, from the moment she came out.
"And I have to say, it was so shocking, genuinely shocking, for all of us. None of us wanted that. I don’t like to see anybody in that much distress, how she was in the end. And it was just one of those things. It’s been the worst week of my life, actually. I’m so sorry."
Coleen went on to reveal that she has been the subject of shocking online abuse following the row, some of which involved her late sister Bernie.
Crying her eyes out, she continued: "I’m so sorry. I didn’t think I was going to cry.
She added: "I would never wish harm on Kim. I don’t hate Kim. We’ll never be friends and that’s fine. But I would never set out to bully her. Do I react sometimes to being called everything she calls me? Yes. And sometimes I laugh because I think she’s got a point. But it’s just been a really hard week. Oh God I'm so sorry, I feel like such an idiot."
Meanwhile the singer confirmed she's stepping away from the series to concentrate on her solo singing tour.
The shows kick off in January, and the schedule make it "impossible" for her to keep up with her Loose Women duties.
She told Woman's Own: "Obviously, I'll have to take a break from Loose Women.
"I can't be a regular on it because I will be in Scotland, Wales, way down south, it will be impossible to be on the show two or three times a week."
But Coleen hopes to keep in touch with her pals on the panel and possibly make guest appearances via video link while she's away.
She added: "Hopefully I can pop back when I'm near enough, or when we can do live link-ups…"
During the tour, Coleen will be playing shows around the country as a solo act.
It will be the first time Coleen has sung in public for a decade after last hitting the road with her sisters Bernie, Linda and Maureen in 2009.
Coleen told The Mirror: “The tour is a step to being independent for the first time in my life, and not being the baby.”
It comes after more than 23,000 people signed a petition to call for Coleen to step down from Loose Women after Kim walked off in tears last week.
After the incident on air, Kim broke down as she told The Sun Online she felt Coleen and her sister Linda were mocking her.
The pair had come face to face on screen for the first time since their feud started on Celebrity Big Brother last year.
During the Kim’s appearance she started crying while discussing her "very sad" and "brutal" childhood.
But she became upset as she spoke because Coleen could be heard whispering: "We got this every day as well."
Kim ended up calling Coleen – who was joined by her sister Linda in the episode – lying trash" and a "piece of filth" before storming off the set after a heated row.
Kim called for Coleen and Linda to be sacked from the show and many fans agreed.
Coleen has called her tour Never Too Late and it begins in Manchester in January.
She will be on the road for just over a month and will tour around the UK.
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