The two were racing on Saturday (April 15) when Cibrian reportedly felt a tap on his car, causing him to turn too wide and run into a wall.
"Carnage happened," Cibrian told E! Online. "My car was lucky, but I was driving with my steering wheel sideways. It did a 180!"
Meanwhile, the Hills star blamed the incident on the Playboy Club actor.
"[The crash] wasn't my fault, right?" Jenner said. "I had a good time while I was out there. I was picking my time, Eddie kept blocking me.
"I finally had a better run on the straightaway, so I went for it," he continued. "But he wasn't braking! I broke, and made the turn, he didn't. He hit the wall, bounced off the wall and hit me.
"That's racing though! I'm just bummed I didn't get to win!" Jenner added. "'Cause I think if I woulda kept off that wall, I maybe woulda had a chance. Oh well, next year."
Cibrian joined Rizzoli & Isles for its third season in March.
> Avril Lavigne 'splits from Brody Jenner'