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Conrad Murray, 65, who spent two years in prison for involuntary manslaughter following Michael Jackson's death in 2009, made the allegation in a taped statement published by website The Blast.
In the video, Murray called Joe Jackson, who died last month aged 89, "one of the worst fathers to his children in history".
"The cruelty, expressed by Michael, that he experienced at the hand of his father, particularly the bad treatment, and moreover the fact that he was chemically castrated to maintain his high-pitched voice, is beyond words," said Murray.