The incident occurred two months ago, after Panesar was asked to leave a club in Brighton on the English south coast.
The 31-year-old was fined by police and released by county side Sussex, but he was nonetheless named in the England squad for the return Ashes series in Australia later this year.
He says that he regrets the incident, but insists that it was not a deliberate act.
"I know it looks terrible, but I wasn't as drunk as people believe," he told British weekly newspaper The Mail on Sunday.
"I swear I didn't see them and I had no intention of purposefully urinating on them or near them. To be honest, I barely went (urinated) at all and I'm pretty sure I didn't hit them."
He added: "The next morning I woke up and thought, 'What have I done?'
"My first reaction was that I'd just thrown my England career away, maybe even my whole cricket career. I felt very lonely and very depressed. It was a very dark time."
"I just can't tell you how thrilled I am with the selection," Panesar said.
"It's an incredible boost I needed as a cricketer and as a person, after a chapter in my life I'm ashamed of."
Matters were made worse when a video of Panesar being restrained by bouncers from the club emerged a few days after the incident, which his new Essex team-mates took great delight in showing him.
You’ve reached your limit of {{free_limit}} free articles this month.
Subscribe now for unlimited access.
Already subscribed? Log in
Subscribe to read the full story →
Smart Quarterly
₹900
3 Months
₹300/Month
Smart Essential
₹2,700
1 Year
₹225/Month
Super Saver
₹3,900
2 Years
₹162/Month
Renews automatically, cancel anytime
Here’s what’s included in our digital subscription plans
Exclusive premium stories online
Over 30 premium stories daily, handpicked by our editors


Complimentary Access to The New York Times
News, Games, Cooking, Audio, Wirecutter & The Athletic
Business Standard Epaper
Digital replica of our daily newspaper — with options to read, save, and share


Curated Newsletters
Insights on markets, finance, politics, tech, and more delivered to your inbox
Market Analysis & Investment Insights
In-depth market analysis & insights with access to The Smart Investor


Archives
Repository of articles and publications dating back to 1997
Ad-free Reading
Uninterrupted reading experience with no advertisements


Seamless Access Across All Devices
Access Business Standard across devices — mobile, tablet, or PC, via web or app
