Mardle said: 'It didn't look good, did it? Every time I see it I think, 'How desperate are you?' It looks absolutely despicable behaviour by a professional darts player.'
As a result of the drama, Pipe was booed loudly as he took on 16-time world champion Phil Taylor.
Much to the crowd's delight, Taylor won four sets to nil to comfortably move through to the last 16 of the world darts championships in London.
"I looked down at his wife and his son and I felt sorry for him, I did, I really did. Because they were here to support him and he's here to win the world championship the same as everyone else, it wasn't nice."
Pipe denied any accusations of foul play, saying he was 'bitterly disappointed' by Mardle's comments.
In an official statement released through the PDC, he said: 'I would never do something to put another player off and Bernie didn't say anything to me on the night. As far as I'm aware there is no issue from his side and this has been blown out of all proportion.