During an appearance on The Late Show with David Letterman, the Big Bang Theory actress recalled the September 2010 incident - after which she was temporarily written out of the series.
"[The horse] got a little trapped," she said, explaining that in its panicked state the animal backed over her leg.
"I actually thought he was walking on leaves. That's the way the sound of my leg was."
Cuoco, who has minor scarring from the injury, insisted that she has now fully recovered and went on to joke about the incident.
"Now I have two metal bars in my leg, but the good thing about that is I know when it's going to rain," she laughed.