Bristow described the Emu puppeteer as a "pervert" and once threatened to punch him while appearing as a guest on the 1983 Bullseye Christmas special.
"I didn't like Rod Hull. He was a pervert who was getting away with something that wasn't right," the darts player wrote in his autobiography The Crafty Cockney.
"He used the puppet to feel up women and stick his hand between people's legs. It was out of order."
He added: "We'd all had a drink, perhaps one or two more than we should.
"I went straight up to Hull's face and said, 'Now listen, pal. When you come out on set later with that f**king silly bird of yours, if you come anywhere near me with that f**king thing I will knock you straight out, on telly, whether it's f**king live or not'.
"When Hull came on later he was pulling [host] Jim Bowen all over the place with his stupid Emu, but he didn't come anywhere near us, he daren't.
"If he'd touched me inappropriately with his hand I would have sparked him."
Bristow is currently taking part in ITV's latest series of I'm a Celebrity... Get Me Out of Here!.
Hull was a hugely popular entertainer with his Emu act in the 1970s and 1980s, and was perhaps most famous for his flamboyant appearance on Michael Parkinson's chatshow.
He died aged 63 in 1999 following an accident at his home in Winchelsea.