"You know what? I think that guy's a f------ p----," Kelly told reporters at the The Art of Elysium's 9th Annual Heaven Gala in Culver City, California, on Saturday.
Nicasio grabbed the microphone during the cast of The Talk's acceptance speech last Wednesday in order to promote himself. The frequent party crasher was swiftly kicked in the backside by 63-year-old Sharon before leaving the stage and eventually being handcuffed by LAPD officers inside the venue.
"He was such a p---- because he went up to a group of women who are mothers and women who work so hard for what they have," Kelly, 31, continued, "and it was such a big deal that they won that award. How dare you ... "
The British star said that she didn't understand why he chose to interrupt the daytime talk show hosts' moment instead of a fellow musician or someone "his age."
Kelly added that Sharon kicked Nicasio because he had pushed her co-host Sheryl Underwood.
"If he didn't push Sheryl that never would have happened," Kelly explained. "He pushed Sheryl and my mom was like don't touch my friends."
Sharon previously told PEOPLE that that she gets upset when people try to steal undeserved attention away from those who've earned it.
"It's like, 'You know what? You want five seconds of fame, go and earn it,' " she said of Nicasio. "Don't go rain on somebody else's parade. This ain't your time kid, get off."
She added that he chose the wrong group of women to interrupt, telling PEOPLE "He didn't think he'd get his ass whipped."
"It was basically like f--- off, who the hell do you think you are? F--- off," she said of her kick, later adding on Thursday's episode of the show, "If I see him again, I'd kick him again!"
Reporting by NICOLE SANDS