The 32-year-old British television personality denied on Monday's episode of Watch What Happens Live that she threw shade at Hadid in her memoir over the reality star's highly-public struggle with the condition.
"Absolutely not," Osbourne said of a passage in her book where she remarks on Lyme disease being "trendy" in Hollywood. "I actually helped Yolanda. I put her in contact with a doctor who helped me."
"What annoys me is that this is a real, real disease. It almost killed me. And it's incredible, and you know this better than anyone, how someone can take one sentence and make it seem so negative," she explained.
"Nothing about it is negative, because I will do anything to raise awareness for it because I almost died from it," the star added. "It is a debilitating disease that most of the time goes misdiagnosed."
Hadid has been vocal about her experience with chronic Lyme disease, including in the book Believe Me: My Battle with the Invisible Disability of Lyme Disease, since being diagnosed in 2012. Osbourne herself said in her memoir that she struggled for a decade before being diagnosed with the condition.
"I went to Frankfurt, Germany, and I did stem cell and I got cured. But it sickens me that that's not available to everyone and that you have to be considered lucky or privileged to get that sort of treatment," she wrote, according to ABC News.
"I want to make sure and I will do anything that I can do to make sure that that treatment is available in this country," the star added.