Alec Baldwin admits his infamous voicemail branding his daughter a "rude, thoughtless pig" caused "permanent" damage to their relationship.

Alec Baldwin

Alec Baldwin

The 59-year-old actor was going through an acrimonious custody battle with Kim Basinger when he lashed out at their daughter Ireland Baldwin, then 11, after she offspring missed a scheduled phone call and though they have put the expletive-filled message behind them in the 10 years that have passed, the former '30 Rock' star admits it's an issue that can never truly go away for them.

Speaking while promoting his new memoir, 'Nevertheless', on 'Good Morning America', he said: "It's thrown in your face everyday. As I mention in the book, there are people who admonish me and attack me and use that as a constant spearhead to do that.

"It's a scab that never heals because it's being picked at all the time by other people.

"My daughter, that's hurt her in a permanent way."

Alec is in a much better place now, and feels "lucky" to have a happy home life with wife Hilaria and their three children, Carmen, three, Rafael, 21 months, and six-month-old Leonardo.

He said: "You talk about in the business, you've got to be lucky, and I've been lucky to some degree.

"I'm luckier in my personal life, and I'm glad that I'm luckier in my personal life. And if I had to choose, I'd pick that."

Ireland proved almost two years ago she was able to poke fun at her dad's insult when she posted a photo on social media of them sitting together reading a children's book called 'If I were a pig'.

She captioned the image: "If I were a pig... I would be a rude and thoughtless one of course!(sic)"