The Killer Love singer quit the chart-topping ensemble in December 2010, but insisted that she would never forget her 'Don't Cha' "sisters" or the life lessons that they had taught her.
"People thought we had non-stop catfights, but those girls will be my sisters for life," she told the Daily Mail. "We slept, breathed, sang and shared the same tiny space together for years, and honestly there was no time or room for fights.
"I went from being this shy little girl with hang-ups about wearing a bikini to this creature who performed in the teeniest clothes with total confidence. Being a Pussycat Doll turned me from a girl into a woman."
However, Scherzinger accepted that her "brutal" work commitments meant that time in the Pussycat Dolls was not always easy.
She recalled: "Being a Pussycat Doll was like being an Olympic athlete who has to perform every day for years without sleep. I spent four years with these superwomen and it was the toughest thing I've ever done.
"We were travelling, rehearsing, learning new routines - there was often no time to sleep or eat or call your family. It was utterly brutal and the best training camp for anyone who wants to work in this business."
Scherzinger has hit the headlines recently after allegedly replacing Cheryl Cole on the X Factor USA judging panel, although further reports have suggested that she will now be returning to her original role as co-host of the show with Steve Jones.
Watch the video to the Pussycat Dolls' final single 'Hush Hush; Hush Hush' below: