The 'Angels' co-writer told The Guardian that the Take That star was unhappy with his ideas for the 1998 single 'Let Me Entertain You'.
Chambers said: "He can be quite tasty, can Robbie: he once pushed me up against the wall for putting a saxophone solo on 'Let Me Entertain You'.
"He said, 'If you ever put a saxophone solo on one of my tracks, I will kill you'. So I put a trumpet solo on instead."
Chambers noted that his worst ever gig with Williams came in Hanover in 2000.
"He was pushed off stage by a fan who thought he was an impostor because he'd dyed his hair black," he explained.
"We had four SAS members looking after Rob's security and none of them managed to stop this guy running on the stage and pushing Robbie off the stage into the pit. He was quite shaken up, but he went straight back on stage. He doesn't give up easily. "
After parting ways with Williams in 2002, Chambers has collaborated with artists including Beverley Knight, Girls Aloud star Nadine Coyle, Peter Andre and The Saturdays.
Williams and Chambers later reconciled and a track from their 2002 writing sessions called 'Blasphemy' appeared on Williams's last album Reality Killed The Video Star. Chambers and Williams also produced a cover of The Kinks 'Lola' for the 2007 Radio 1 Established 1967 compilation.
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Watch the Robbie Williams 'Let Me Entertain You' music video below: