In a new interview with Entertainment Tonight Tuesday, the supermodel, 59, claims Cosby gave her a glass of red wine and a pill after she told him she was menstruating and had stomach pains.
The two were having dinner in Lake Tahoe in California after the entertainer offered her a job on The Cosby Show in 1982.
"Before I woke up in the morning, the last thing I remember was Bill Cosby in a patchwork robe, dropping his robe and getting on top of me," Dickinson recalled. "And I remember a lot of pain. The next morning I remember waking up with my pajamas off and there was semen in-between my legs."
Stressing that she's now speaking out about the sexual assault "because it's the right thing to do," the star says Cosby, 77, and his lawyers pressured her into silence when she tried to include the assault in her autobiography, No Lifeguard on Duty: The Accidental Life of the World's First Supermodel, in 2002.
Since the alleged assault occurred, Dickinson has not confronted the comedian, but says she's no longer holding back.
"Stuffing feelings of rape and my unresolved issues with this incident has drove me into a life of trying to hurt myself because I didn't have counsel and I was afraid," she said. "I was afraid of being labeled a whore or a slut and trying to sleep my way to the top of a career that never took place."
What would she tell him now? "How dare you? Go f--- yourself. How dare you take advantage of me, and I hope you rot," she told Cosby via the interview.
Watch the video below: