"As a victim of sexual assault myself, I made both the song and video at a dark time in my life," she wrote. "My intention was to create something extremely defiant and provocative because I was angry and still hadn't processed the trauma that had occurred in my own life."
Related: 'Let these girls go': Alleged victim's family begs R. Kelly to stop reported abuse against women
Gaga, 32, said she used "poor judgment" when she recorded the song and apologized for not speaking out against Kelly sooner.
"I can't go back, but I can go forward and continue to support women, men and people of all sexual identities, and of all races, who are victims of sexual assault," she said.
>> Read the full statement here
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