The 29-year-old was just 18 when she moved in to the mansion, when Hugh was 78-years-old.
Mum-of-two Kendra opened up about her experiences in her 2010 autobiography, admitting she had to rely on alcohol and drugs to get through sex with him.
She said: “I was usually very drunk doing those evenings, I tended not to care about much until the next day. I had to be very drunk or smoke lots of weed to survive those nights.
“As about the minute mark, I pulled away and it was done. It was like a job. Clock in, clock out. It’s not like I enjoyed having sex with him.”
While she was happy to be asked to move into the mansion in her teens, Kendra revealed to her I’m a Celebrity campmates that it didn’t register that she’d be expected to have sex with Hugh.
She told Melanie Sykes: “I just wanted to party. And I had a damn good time. It was so much fun.
“Hef asked me to be one of his girlfriends and live in the mansion and I was like, ‘I don’t even know what that means, but hell yeah! I’m there!’ I was living in this small-ass apartment… I was praying for anything to get me out of there.
“I moved in and weeks went by and I didn’t know that sex was involved. Because I knew nothing about Playboy. I had just graduated high school.”
Kendra has also opened up about her husband Hank Baskett’s depression while in the jungle, admitting she blames herself for not being there for him.