The singer denied reports that he dislikes the boyband, but admitted that he wishes he was able to enjoy their international success with them.
"I'm jealous of them and I wish I was doing it all with them," Williams told BBC Newsbeat. "I've met all the boys, but it was a long time ago.
"I am quoted as saying, 'Robbie Williams slammed One Direction. Robbie Williams had a go at One Direction'. I really didn't - I love the boys."
He added: "I'm looking forward to seeing where the road takes them for many years to come I hope. They do perform like they've never met each other and there's a certain charm to that too. It's brilliant."
Meanwhile, Williams will release his new single 'Candy' in the UK on October 29, while album Take the Crown follows on November 5.
Watch the music video for Robbie Williams's 'Candy' below: