The professional ballroom dancer admitted that he would have taken the chance to share a few moves with Camilla if the New Zealand native hadn't danced with her.
Revealing Cole's brave approach at the osteoporosis charity event, the Hole in the Wall host divulged: "Craig Revel Horwood was due to dance with her but Brendan said to her, 'I don't know if you would like to have a little dance'. But it certainly wasn't a 'thing'."
During the discussion, the Hole in the Wall host spoke out about his failed efforts to grab a dance with the wife of Charles, the Prince of Wales: "Camilla is lovely and I was chatting to her myself...In fact he [Brendan] only danced with her because I didn't get there quick enough. I would have had a go myself!"
This interview comes after Cole denied claims he was fired from the BBC show for breaching protocol when he waltzed with the Duchess.
According to The Sun, the Dancing With The Stars judge left show bosses furious after he disobeyed orders and asked Camilla to dance during the series' Christmas special.
The publication added that Cole's actions left showrunners up in arms that he broke his rank, which was allegedly the "last straw" and proved he "couldn't be controlled".
A senior source told the publication: "The event had been very carefully orchestrated, largely due to Craig's friendship with Camilla — and everyone, including Brendan, had been given an extremely clear briefing.
"...Each of the professionals was to pair up with the guests while Craig danced with Camilla. But Brendan being Brendan had to make it about him and ignored everyone and made a beeline for Camilla — who politely didn't cause a scene."
In light of the claims, a spokeswoman for Cole denied the reports to MailOnline: "I can confirm that these assertions are absolutely, categorically untrue. There was no such brief from BBC."
The latest reports come after furious Strictly producers "sacked fiery Brendan after 13 years and 15 series on the show for creating negative press and for his on-air outbursts," saying that "no one is bigger than the show," sources told MailOnline in January.
The professional dancer broke down in tears on ITV's Lorraine as he revealed he has been axed - and a source told MailOnline: "Producers were said to be furious over his recent interview, in which he criticised his celebrity partners.
"They've always tolerated his rows with the judges as it creates drama and acceptable headlines but this was a step too far."
Another source said: "The producers believe no one is bigger than the show."
The emotional star, who famously rowed with new head judge, Shirley Ballas, during the last series, as well as Bruno Tonioli, talked about his shock sacking on rival channel, ITV, and said: "This is hard to talk about. The BBC haven't renewed my contract."
He added: "They have made an editorial decision not to have me back on the show. I have had 15 incredible series on the show, they are a great team. I am very disappointed. It's an editorial decision. I will never know the ins and outs."
Meanwhile, a second source told MailOnline: "The judges did not want him back. The rows he had in the last series with judges Shirley Ballas and Bruno Tonioli were the last straw."
The BBC told MailOnline in January: "We'd like to thank Brendan for being part of the show since the beginning - winner of the first series - and for the contribution he has made to its success. We wish him all the very best for the future."
