The pair split in 1992 after an eight-month relationship, reports Digital Spy.
"I broke up with her after she printed [the explicit book, "Sex"] because I was hurt to be an unwitting part of this slutty package," the 43-year-old told News of the World.
Ice, whose real name is Robert Van Winkle, appeared in the 1992 book in a sexually suggestive position with a fully nude Madonna, but admitted to the U.K. paper that he found it "disgusting and cheap."
"We were in a relationship, yet it looked like she was screwing all these other people," the New York Daily News quoted him as saying.
"I thought she was taking pictures and running round naked because she was like that. Then when the book came out I was so embarrassed and ashamed. It was a porno." Madonna, 52, "threw me in like I was a product off a shelf, and I didn't appreciate it," he said.
"That was it and I ended it," the musician recalled. "She said she didn't have sex with these men, but it looked like she was," he added.
