"I never told anybody because I was just so ashamed of what had happened to me," D'errico says.
D'Errico says she was 22 years old and vacationing in Panama City Beach, Florida, when she got separated from her friends, picked up by a strange man and raped in an desolate area.
"I thought he was going to kill me," she told Inside Edition. "I thought that he was going to finish what he was doing and kill me."
D'Errico said the man drove away after the assault, leaving her stranded and naked.
"I never told anybody because I was just so ashamed of what had happened to me," she said tearfully. "I started blaming myself for the way that I was dressed. I was like, 'Well, I brought this on myself because I was dressed so sexy.'"
"I felt horrible for a long time for not going to the police because I knew in the back of my head that me not going to the police meant that he was doing this to other people," she added.
She also said that it "feels very freeing" to be speaking out about it now.
D'Errico, now 49, starred on "Baywatch" as lifeguard Donna Marco six years after the assault.