Conrad Murray - who was the pop icon’s doctor at the time of his death - branded Joe “one of the worst fathers to his children in history” in footage obtained by celebrity website, The Blast.
Murray was convicted of Michael's involuntary manslaughter and sentenced to four years in prison after he was found to have administered the propofol sedative to the “King of Pop" before he suffered a cardiac arrest in June 2009. He served two years.
The former cardiologist has now been filmed claiming that Jackson told him about the “many sufferings” he experienced “at the hands of his father” when he was a child.
“The cruelty expressed by Michael that he experienced at the hand of his father,” Mr Murray said.
Trailing off, he added: “The fact that he was chemically castrated to maintain his high-pitched voice is beyond words.”
Later he said: “I hope Joe Jackson finds redemption in hell."
The claim echoes those he made in his 2016 book This Is It! The Secret Lives of Dr Conrad Murray and Michael Jackson in which he accused Joe of forcing his son to get hormone injections at age 12 to cure his acne and stop his voice from changing.
Although it is unclear when the film was taken, it emerged days after Joe died of pancreatic cancer, aged 89.
Micheal opened up about his difficult upbringing with Joe in 2003 documentary Living With Michael Jackson.
“It was more than just a belt - cords, whatever was around,” the singer recalled.
He said Joe would "throw you up against the wall as hard as you could. He would lose his temper. … I was so fast, he couldn’t catch me half the time. But when he would catch me? It was bad. It was really bad.”
But the singer’s children Prince Michael and Paris Jackson portrayed highly different images of the music manager and father to 11.
“This man is and always will be an example or sheer will power and dedication. He didn’t choose the path that was the easiest but he chose the path that was best for his family,” Prince Michael, 21, wrote when captioned a family photo on social media.
“You taught me to take pride in the Jackson name and what it really means, you taught me dedication in the face of adversity and most of all you showed me strength and fearlessness.”
Paris, 20, said: “I will cherish every moment with you till the day I die, especially our last moments … quoting advice you gave me when I was a little kid and seeing your eyes light up, sharing stories my dad used to tell me about you, telling a joke and hearing you laugh for the last time.. My heart is full knowing we left each other in that way.”