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The 77-year-old actor said he would regularly get into arguments with Nimoy, who played Mr. Spock on the show, and thought his co-star was "a real son of a bitch".
Writing in his new autobiography Up Till Now, Shatner said Nimoy took on-set jokes too seriously: "[Nimoy] thought I betrayed him for the amusement of others."
However, Shatner admitted the pair reconciled and became "best friends" after they reunited on the convention circuit and for a series of Star Trek movies.
The actor also revealed in his autobiography that he would bed Trek fans at conventions in the '70s.
