The 26-year-old launched her solo career earlier this year with the release of her album Cinderella's Eyes.
Speaking at an intimate gig for Carphone Warehouse last night, Roberts said that she still gets nervous singing without her four bandmates, but admitted that she would like to tour.
"I mean if the opportunity was there, I'd love to - I'd definitely love to," she said. "I do get nervous, I'm not going to lie. I get a lot more nervous on my own than when I was with the band. I am adjusting to it - but it's very different.
"Sort of being in the studio, writing, recording is also very different to being on your own having to perform the song. It's two totally different elements. Someone said something really interesting to me the other day; what happens to me, because I wrote it, is that I have a tendency to go into myself and it's like self-indulgent. But I'm not recording it, I'm performing it - I have to learn to do that just as well."
Despite the album peaking at number 17 in the UK charts, Roberts admitted that she does view chart success as being equally important as the "unexpected" positive reviews her collection achieved.
"I do follow the charts. I appreciate that I've made a record that's not necessarily what's in the charts, and I wanted to do that - that's the record that I wanted to make," she explained. "I wanted to be able to look back on it and not doing something for any other reason, other than that it was the record that I wanted to make.
"I've been given an opportunity to write, and to be in control of it 100%. That is amazing. That's been the most amazing part and I have that forever - whether or not I make a second record, whatever happens, I have something which I am genuinely proud of."
Roberts releases third single 'Yo-Yo' early next year.
> Nicola Roberts: 'Girls Aloud made it hard to write solo album'
> Nicola Roberts 'doesn't make music for commercial reasons'
Watch Nicola Roberts's performing 'Yo-Yo' below: