"I'm not ashamed of my past anymore," Lanita Carter told CBS News. "I'm not ashamed of what naysayers say."
Carter, who was once Kelly's hairdresser, claims the R&B star tried to force her into oral sex in 2003. When she resisted, he allegedly masturbated and spat in her face.
Kelly has consistently denied all the charges against him.
Carter, who was 24 at the time of the alleged attack, said she had decided to speak out after watching Kelly's explosive TV interview with Gayle King, in which he tearfully claimed his accusers were "trying to kill" him.