Dennis was well known for his hot temper during his career, and was once sentenced to three months in prison.
In 1995 the I’m A Celebrity… Get Me Out Of Here! campmate was found guilty of assaulting a taxi driver after he smashed a window and grabbed the driver round the neck.
He spent the night in a cell, and was sentenced to three months in prison. However just eight minutes before he was due to his cell in Brixton, his lawyers won him an appeal and he was granted unconditional bail.
Discussing the incident, which saw him stripped of his title of Chelsea manager, he said in his autobiography: “That day I experienced the longest and most terrifying one hour and fifty minutes of my life.
“I started crying – lots. I see nothing wrong in owning up to that.”
The 50 year old said the incident happened when the driver suddenly braked, causing him and his girlfriend to jolt forward in the cab. She attempted to get out when the driver started moving the vehicle, which resulted in her getting hurt.
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Dennis added: “I screamed at him to stop and banged on the partition window because I thought there was a real danger she would be hurt.
“The window smashed and I got him round the neck because I was so furious at what he had done.”
He added that he worried he would “be raped, beaten up and probably both” if he had served his prison sentence.
“That cell was the loneliest place on earth,” he added. “It was cold. It was desolate. I was tearful. I was scared. I am not ashamed to admit it.
“It dawns on you how lucky you are outside. I realised that I could lose everything through five minutes of madness.”
The former midfielder has been accused of bullying fellow campmate Iain Lee as they both take part in the ITV reality show.