The former footballer turned legendary broadcaster was diagnosed with the rare condition in 2022.
According to the National Institute on Deafness and Other Communication Disorders, apraxia of speech is a disorder which affects the pathways from the brain and makes it difficult for someone to say what they want to correctly or consistently.
But, speaking to Andy Goldstein and Darren Bent on talkSPORT's Drive show, Kamara said that when he first started experiencing symptoms, he had no idea what was happening to him.
He said: "I woke up one morning and all of a sudden the connection between the brain and the voice went for some reason.
"So I thought I must have had too many beers last night, it'll be alright once I get through the day - and it never [was], it stayed there.
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"I couldn't believe what was happening - I thought 'Have I got dementia? Have I got Alzheimer's? Have I had a bang on the head and I can't recover from it?'"
Kamara admitted that one of the most difficult decisions he had to take was choosing to share his symptoms with loved ones and with medical specialists.
He said: "There was all those things going through my mind and I went into denial because of the fact that I kept it to myself instead of being a bigger person and speaking to someone.
"I kept it from my family, I kept it from the doctors, everybody and carried on as if it wasn't there."
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When he did take the decision to seek medical advice, the news he received was both shocking and frightening.
Kamara had already been diagnosed with an under-active thyroid but was then advised by a specialist to have further inspection after being told that his symptoms were not consistent with this diagnosis.
After he was eventually diagnosed with apraxia, he revealed what his doctor had told him.
"He said: 'I'll be honest with you: the only thing I can say is that it will get worse'," Kamara recalled.
Despite that prognosis, Kamara took the decision to travel to Mexico earlier this year to receive a month of experimental treatment.
And the 65-year-old said his condition got much better as a result.
He said: "It's experimental, the treatment, but it works. It's radio waves and magnetic vibes through the brain and I'm on the mend.
"I couldn't have talked to you before going there and be as fluent as this."
Apraxia is often a symptom of a brain injury, stroke or dementia and can make everyday tasks very difficult for sufferers.
It is thought to be more common in older adults, but can be present in children from birth.
The Royal College of Speech & Language Therapists (RCSLT) estimates that around 20 per cent of the UK population will suffer from speech disorders in their life.
But Kamara revealed that upon first receiving his diagnosis, he struggled to accept that he was within that percentage.
He admitted that it was only over time that he came to understand that acceptance was the first stage in a journey that would lead him to spread awareness for the condition in a groundbreaking way.
Earlier this year, Kamara made and released an ITV documentary alongside his friend and presenter Ben Shepherd, titled Chris Kamara: Lost for Words.
The documentary gives viewers an insight into what it's like living with apraxia and educates people about the condition.
Now, his new book, My Unbelievable Life recounts the story of his life as he reflects on his incredible career in the football industry and expands on what is has been like to come to terms with his own apraxia.
He said: "I did find it frustrating and that's the thing I wouldn't accept. I was ashamed of my voice.
"I was stupid and I apologise to everyone out there who's got a speech defect. I didn't want it - I didn't want it anywhere near me but as soon as I've accepted it now, my voice doesn't define me anymore.
"I thought if I haven't got my voice anymore, what's the point? Why am I doing what I'm doing, I can't do it?
"Now, I'm happy - really happy. I'm helping as many people as I can get their voices back and I'm on the mend which is great."
And he revealed the words of wisdom from his hypnotherapist which he called the 'best advice ever'.
He said: "[He] told me; 'The day you accept your condition is the day you start getting better."
And Kamara said he had his own message of support for anyone who is struggling as he once did.
He said: "All I will say to anybody out there who's suffering from any condition: speak to family, friends, strangers, doctors, anyone who can help you and they will."
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Kammy: My Unbelievable Life is out now.
Contact your local speech and language therapist or Apraxia - The Brain Charity to receive support with any speech disorder or neurological condition