He said: "I definitely regret all the things I said about Samantha. I'm a Christian. I should not pass judgment on anyone."
Michael insists he will not use the public spotlight to contact Lindsay, who recently vowed not to speak to her father until he "grows up".
He added: "In the past, I felt that the best way to get to her was to speak out publicly. And it was the wrong choice.
"Family matters should be kept private. I've learned that now."
Michael previously claimed Samantha was like "a drug" for Lindsay, branding her a "controlling" and "manipulative" influence.