Michael Fagan said "Walking the Dogs," which will air later this year, shows a "lack of respect" for the queen, who is marking 50 years on the throne this year.
"I can't believe they're now putting so much attention on it, particularly in her jubilee year," Fagan, 61, told The Daily Telegraph. "It was just a moment of madness. For her to be dragged through the dirt by me isn't nice."
Fagan stunned the palace and most of Britain in 1982 when he broke into the queen's bedroom while she was asleep. He was locked up in a psychiatric hospital for a few months but said his run-in with her majesty was purely coincidental.
"I had never intended to go into her bedroom and I do wish that hadn't made the headlines," he said.
The Telegraph said Thompson signed on to play Elizabeth because she was impressed with the quality of the script. Fagan said he had his doubts because the screenwriters "don't know what happened in there."
Fagan said he never sold his story to the media or Hollywood out of respect to the queen.
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