The Blancos legend admits his exit from the Spanish giants was "a bit hasty", but vowed to return to the club in an official capacity at some point in the future
The veteran forward completed a free transfer to Qatari side Al Sadd from Schalke this week and signed a one-year deal.
During his unveiling for the Doha-based club, the 34-year-old admitted that he rushed into his decision to leave the Spanish capital in 2010 despite new coach Jose Mourinho wanting the veteran to stay.
"My departure from [Real] Madrid was a bit hasty, but I will return," Raul told Al Jazeera.
The forward also hailed his former side's triumph in La Liga this season, claiming that it was a "fair" reflection of the league.
The Spaniard admitted his desire to be part of the national squad travelling to Poland and Ukraine next month for Euro 2012, saying he would answer a call from national team boss Vicente del Bosque "in an instant".
He also lamented the loss of Carles Puyol to injury for the Euros, saying: "It's a shame. He would have been of great help with his experience."
Raul has 44 goals in 102 appearances for Spain, but has not been chosen to represent the national team since 2006.
Spain have been grouped with Italy, Croatia and the Republic of Ireland for the European Championship, which runs from June 8 to July 1.