The release of the footage comes as the nation reckons with sexual assault and harassment, with near-daily revelations about men falling from positions of power in entertainment, business, the media and politics.
"This was a bad comment I made in poor taste during the height of the Bill Cosby headlines", Matthews said to the Cut "I realize that's no excuse. Precious waters?" And then, while waiting for the water, he adds, "Where's that Bill Cosby pill I brought with me?" "I realize that's no excuse".
The "Hardball" host asks, "Can I have some of the queen's waters?" Matthews has been criticized before for making disparging remarks about Clinton, including calling her a "she-devil" and "anti-male". Dozens of women have accused Bill Cosby of sexual misconduct, including some who say he drugged and raped his victims.
Matthews has hosted "Hardball" since 1997. "I deeply regret it and I'm sorry", he said. In 2005, he questioned if troops would take orders from her as president.
Back in 2008, he also pinched Clinton's cheek after conducting an interview with her, saying afterwards that he was "not obsessed" with the former First Lady.
In 1999, a female assistant producer received a monetary payment after accusing Matthews of "inappropriate comments and jokes about her in front of others". A rep from the network disputed that figure claiming the former employee was paid much less as part of a severance agreement, but didn't specify the amount.
A spokesperson for the network said that Matthews was formally reprimanded at the time.