The band had been due to perform in the French capital on 15 November (15), just two days after the attacks which claimed more than 130 lives, but the show was called off.
Reports suggested the group axed the date because they had been unable to bring their buses, trucks and crew into France after President Francois Hollande declared a state of emergency and shut the country's borders in the aftermath of the violence.
Lemmy has now revealed he desperately wanted to go ahead with the show at Le Zenith as an act of defiance against the terrorists, but the musicians had no choice but to cancel the concert.
"We were looking at the TV as it happened... You could still hear gunshots. It's so dumb. Those people (terrorists) are so dumb. What for? Do you think it's gonna be a heroic thing to kill innocent people? A**holes. Cowards..." he declared during an appearance on German TV show Aspekte.
"We played the Bataclan many times - about 10 times. It was a regular show for us in Paris. But, thankfully, (nothing happened to us) that night...
"I didn't think they'd let us play (the Paris show). I mean, it was the day after (sic)... I would have gone on the day after. If they (the terrorists) stop you, then they win. And they're not gonna beat me. I mean, I do what I'm supposed to do. If the police cancel (the show for us), I can't do (anything) about that. But we didn't cancel it."
Motorhead were among a number of high-profile acts who cancelled shows in Paris in the aftermath of the devastating attacks, which included the slaughter of 89 gig-goers at an Eagles of Death Metal concert.
U2, Foo Fighters, Prince and Marilyn Manson all called off gigs in the French capital.