Davis, 51, said he was on a United Airlines flight from Denver to Orange County, California, on Saturday with his wife and three children when one of his sons asked a flight attendant for a cup of ice.
"The flight attendant either didn't hear or ignored his request and continued past our row," Davis wrote. "I calmly reached behind me and lightly tapped his arm to get his attention to again ask for a cup of ice for my son. His response and the events that followed should stun all of us."
According to Davis, the flight attendant shouted, "Don't hit me!" in response.
"I was confused, as were the passengers in front of me who witnessed the exchange," he continued. "I thought nothing of it other than this particular employee was incredibly rude and blatantly wrong in his accusations of me hitting him."
Davis said six FBI agents and local authorities boarded the plane and placed him in handcuffs in front of his family and then removed him from the flight.
"I was -- and remain -- humiliated, embarrassed, powerless, and angry," Davis wrote.
After explaining the situation to law enforcement, Davis said they determined the flight attendant was "inaccurate" and the agents apologized to him and let him go.
HOFer Davis says he was unjustly pulled off flight
Hall of Fame running back Terrell Davis said he was handcuffed and removed from a plane Saturday following a false accusation by a flight attendant.
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Asking for a cup of ice while black