In the promo for 'Window Seat', Badu is seen stripping as she walks through Dallas, Texas, before she falls to the ground at the spot where John F. Kennedy was assassinated.
The singer has reportedly now been charged with disorderly conduct for getting naked in public.
However, appearing on The Wanda Sykes Show, Badu said: "My point was grossly misunderstood all over America."
She also dismissed claims that the video is disrespectful to the memory of Kennedy.
"J.F.K. is one of my heroes, one of the nation's heroes," she explained. "John F. Kennedy was a revolutionary - he was not afraid to butt heads with America, and I was not afraid to show America my bare-naked truth."
> Directors reveal Badu music video message