Conrad Murray, who was convicted of involuntary manslaughter in Michael Jackson's death in 2009 following which he spent two years in prison, made the allegations in a video released by The Blast.
He called Joe, who died last month at the age of 89, "one of the worst fathers to his children in history".
Murray, 65, claimed that Michael confided in him about the "many sufferings at the hands of his father" and said he hopes that the late patriarch is finding "redemption in hell".
"The fact that he was chemically castrated to maintain his high-pitched voice is beyond words," Murray said in the video clip.
"I would not shed a single tear for the passing of this cruel and evil man," he added.
In 2010, Joe Jackson had filed a lawsuit for wrongful death against Murray, but he later dropped the suit.
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