Christina Master, Lazenby's wife from 1971 to 1995, has claimed that her ex-husband was an abusive alcoholic who hit her and their daughter Melanie.
The actor said in a statement: "I wish Christina would show me a medical report, X-rays and pictures that show I broke her nose. I never punched her in my life."
He also apologised to Melanie for failing to pay attention to her when his son Zack, who died of cancer in 1994, was ill.
The 68-year-old's current wife, former tennis star Pam Shriver, filed for divorce last week, citing "irreconcilable differences" in legal documents.
Lazenby's sole outing as James Bond was in 1969's On Her Majesty's Secret Service.