"If they wanted to hear from me, they only had to call and I would have gone, because I owe nothing to anyone and fear nothing," he said at a news conference in his first remarks since being released.
Lula, 70, said the decision to detain him at his house and take him to a police station for questioning in the Petrobras corruption network probe showed "lack of democratic respect" and "judicial authoritarianism."
"They preferred to show power, arrogance, to make a show."
Prosecutors said Lula was targeted as part of an investigation into a vast embezzlement and bribery conspiracy centered on Petrobras, the national oil company. The corruption scandal, which has already seen a Who's Who of Brazilian politicians and businessmen face charges, is believed to be the biggest ever in Brazil.
Officials said about 200 federal police and 30 auditors fanned out across three states, serving 33 warrants for search and seizure and 11 for detention for questioning.
In particular focus is a luxury seaside apartment and a country house that prosecutors say they believe were given to him as bribes. Lula says the properties do not belong to him.
The police interview, held at an airport near his home, lasted more than three hours, the Globo news site reported.
Lula, who was president from 2003-2010, remains one of Brazil's most influential figures and his fate is closely linked to that of his successor, President Dilma Rousseff, and the future of the ruling Workers' Party.
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