"That's not the side I knew, that's not the person I worked with," says Palmer.
The actress, who has referred to herself as a "student" of the musician in the past, appeared on "Watch What Happens Live" on Sunday night, where she was asked what was most "eye-opening" about watching the special.
"I don't even know what to say. The whole thing," she answered. "The whole thing was eye-opening, painful, sad, disappointing, heartbreaking."
Host Andy Cohen then asked if it was also "surprising."
"Yes, because that's not the side I knew, that's not the person I worked with, that's not the experience I had," she explained. "Just imagine you had a great experience with someone and you're hearing all this stuff, it's like why didn't you show them what you showed me?"
"That's the feeling I had and I hated talking about it, because you were a friend to me but then I'm seeing you as a foe to others, and I'm hurt for them, how do I feel? How do I put myself in this position now?" she continued. "It was very sad. I think anybody that loved him as a person probably feels that way. It's not something you want to hear about somebody that you care for."
Palmer first opened up about her initial reaction to the series back in January, after watching it.
"Just finished Surviving R. Kelly and I have spent the last hour crying. As a student of R. Kelly's for the time I was and having been around his light and understanding the obstacles he overcame as a child to actually be birthed into the musical genius he is today... All to put others through the same darkness he was running from is the most disheartening thing to accept," she said at the time.
"Many people experience hardships and do not allow themselves to find freedom through their passion enough to shine a light," she continued. "R. Kelly received that grace from God. God blessed him to vindicate his childhood shortcomings and yet still he has slapped God in the face by his actions towards these women. I am hurt and saddened because he could have been a blessing to these women but instead he repeatedly took advantage and that I can not accept."
"I will stand by my sisters because that's simply what's right and what I hope discontinues this behavior in anyone," Palmer added. "We have to be good to each other, not all of us accept the light but those of us that do must be responsible!!!! We can not take advantage of each other or accept when someone else does."
Kelly has continued to deny all claims of misconduct made against him.