The singer-and-dancer had to cope with a barrage of rude taunts when she initially started working with The The band - originally a dance troupe before coming a pop act in 2005 - because she could do the splits.
She told the Daily Express newspaper: ''I was a professional dancer before the Pussycat Dolls, but just because I can do the splits while I'm dancing some people thought it gave them the right to call me every name. The polite one was stripper.''
Kimberly left the Pussycat Dolls in 2010 and is now a judge on British TV show 'Got to Dance'.
The 30-year-old blonde insists people don't realise how hard it is to master dance moves like the splits and the raunchy routines she her former bandmates - Nicole Scherzinger, Melody Thornton, Ashley Roberts, Jessica Sutta and Carmit Bachar - would perform.
She said: ''There's so much more to me than someone who's been in a famous girl band and had the ability to do that leg lift.
''It used to really hurt my feelings when people were so focused on that move and regarded it as somehow X-rated.
''Actually, that physical flexibility was only possible because of dedicated training for literally years in ballet and contemporary dance, but that somehow got ignored.''
A completely new line up of Pussycat Dolls was unveiled earlier this year, featuring Lauren Bennett, Vanessa Curry, Chrystina Sayers, Erica Jenkins and Paula van Oppen.