The 'Candy' singer welcomed his first child Theodora Rose with wife Ayda Field earlier this year.
He revealed that the baby's umbilical cord almost strangled her before he cut it.
"I cut the cord but, bless her, I cut it while she was still inside Ayda," he is quoted as saying in The Sun.
"Teddy was going blue because the umbilical cord was caught around her neck. I had to be quick with the scissors."
He joked: "It was like the first 30 minutes of Saving Private Ryan down there.
"It was like 'Ayda vs Predator'. She'd say the same thing. It's an image that won't go away."
Williams added that he used hits of gas and air to help him through the tricky birth.
"I had loads of it. I was looking at my mother looking at me. Every time Ayda had a contraction I thought, 'I can have gas and air too'.
"I've got such huge respect for women who have babies."
Robbie Williams will feature as part of a weekend of shows to promote his new album Take the Crown on Sky1 on November 24.
Digital Spy breakfast show - watch Anna Williamson discuss the day's biggest stories including X Factor, James Bond and Justin Timberlake: