The famous pair, who recently starred together in The Way, have now written a book about their relationship.
Estevez, 50, remembers his brush with death while accompanying his father on the set of the 1979 film Apocalypse Now, explaining that star Laurence Fishburne had to rescue him.
Sheen told Access Hollywood that he learned many things about his son while working on the book, and that the near-death experience was the most stunning.
He said: "We didn't have a clue that that had happened. I wanna call Laurence and thank him... I would have gone up and hugged and kissed him and thanked him [on the set] but I didn't have a clue."
Sheen's other famous son Charlie Sheen has recently come under scrutiny after reports of a drug relapse. The West Wing actor has described his son's addiction as "a cancer".
Sheen and Estevez's book Along The Way is currently in stores.
Watch Martin Sheen talk about Along The Way below: