Speaking at his attorney's office, Larry Friedman, Irvin said the rape case caused him deep pain.
"Its been a horrific ordeal," an emotional Irvin said during a news conference. "I was put in a very difficult situation."
The Broward State Attorney's office said Thursday it investigated the claims but a spokesman said there was no physical evidence because the woman waited more than two weeks to report the incident.
Friedman said a $100 million countersuit against the woman is still alive. He also said he's thinking of suing ESPN for wrongful termination. Irvin had hosted a radio show on ESPN Radio 103.3.
The woman filed a lawsuit on Feb. 4, claiming she was sexually assaulted by Irvin at the Seminole Hard Rock Hotel & Casino in July 2007.
Irvin said he was shocked by the allegation, which was revealed two days before the Super Bowl and a day before former teammate Emmitt Smith was elected into the Pro Football Hall of Fame.
"I was in a fetal position after I found out," Irvin said to ESPNDallas.com on Friday. "The only thing that gave me strength was Emmitt going into the Hall of Fame."
Irvin said he plans on working for the NFL Network at the NFL combine in Indianapolis this weekend.