The incident reportedly ramped up backstage with Ms Pirro claiming Whoopi screamed at her to "Get the f*** out of this building!".
Addressing the allegations on national television the next day, Whoopi admitted she had "used some choice words", but claimed there was more to the story.
"Things got hot on the air … I want to clear up what happened afterwards," Whoopi said.
"[Jeanine] was upset when she got here because Ana Navarro was on instead of Joy [Behar]. "And after the segment ended … she then called everybody at the table a name I cannot repeat on TV and said it in front of the audience."
Whoopi said she "rarely gets stirred up" but had "got a little hot" on this occasion.
"For 20 years, this show has always had people on with different views … but you cannot come and call people names," she said.
Following the segment, Whoopi went backstage "to calm down", by having a moment to herself.
"[Jeanine] came off, she stopped, put her finger in my face and yelled: 'I've done more for victims than you ever will'," she said.
"Then I said to her some few choice words I cannot repeat. Yes I did say it. But I did not spit on her, I did not intimidate her, no one chased her saying 'get out'.
"But she did leave here cursing at the people who booked the show, she cursed at the guys who do the security for the show."
The clash between the pair started when Ms Pirro praised Mr Trump for lowering the unemployment rate for Hispanics and African-Americans, and Whoopi and co-host Sunny Hostin said the credit should go to former president Barack Obama.
The Justice with Judge Jeanine host accused the pair of suffering from "Trump Derangement Syndrome."
Whoopi fired back: "I don't have Trump derangement, let me tell you what I have.
"I am tired of people starting a conversation with, 'Mexicans are liars and rapists'. Listen, I'm 62 years old, there have been a lot of people in office that I don't agree with, but I have never ever seen anything like this.
"I've never seen anyone whip up such hate, I've never seen anyone be so dismissive and clearly you don't watch this show, so you don't know that I don't suffer from that. What I suffer from is the inability to figure out how to fix this, that's my issue."
The judge replied: "You know what's horrible? When people who shouldn't be here end up murdering the children of American citizens!"
The Sister Act star had had enough. "What is horrible is when the president of the United States whips up people to beat the hell out of people … Say goodbye. I'm done!"
And the fireworks went off again with the cameras off.
When the two crossed paths backstage, a source told the New York Post: "Jeanine tried telling her she's fought for victims her whole life … Whoopi got in her face and said that they've known each other a long time, but still, 'F**k you, get the f**k out of this building!' Jeanine looked stunned."
Another source told the Post: "Jeanine could have walked by her. There was one more segment to do. She could have walked by her easily, she put her finger in her face and said, 'I've done more for abused women than you will ever do' and that's when Whoopi said, 'You and I have never had a problem,' before everything else was said."
Whoopi Goldberg and Jeanine Pirro clashed during a segment about Trump on The View. Photo / Supplied
Ms Pirro later told The Sean Hannity Show that she thought Whoopi's behaviour was "horrific", and the way she was treated was "typical of what is going on in this country".
"The left, they invite you on to talk, they then won't let you talk, they throw you off the show and then they throw you out of the building," she said.
But the The View host told DailyMail.com she only told Ms Pirro to leave after the judge used a vulgar term to describe the women on the show.
Whoopi would not reveal the word, but a production source told the Mail Ms Pirro stared at the hosts as she left the stage and said: "Those c**ksuckers."
The source said Pirro tore off her microphone pack and hurled it at a crew member.
The ABC show's producers and Whoopi have reportedly reached out to Ms Pirro to have a conversation about what happened.
Representatives declined to comment.
Whoopi apologised to the audience for the on-air blow-up, saying, "You saw me do something I very rarely do … I very rarely lose my cool and I'm not proud of it. I don't like it.
