Kaiser looking forward to an interesting game on Sunday...
He had accused England of going "back to the old days of kick and rush" and later suggested that the players were "burnt out."
However, Beckenbauer, who made the comments following England's laboured 0-0 draw with Algeria, has now apologised for his remarks.
"I apologise, because I like England and I like English football," the 1974 World Cup winner told BBC Radio Five Live.
"Maybe it was a reaction because I was disappointed [with England's performances] and maybe in a bad mood.
"Before the World Cup I was convinced England would play a major role in the tournament and maybe win the title.
"They have a great team and a great coach - Fabio Capello is one of the most experienced coaches - and after the first two games I was so disappointed.
"In other words, I apologise and I look forward to the game on Sunday. I think it's going to be a very interesting game."
Beckenbauer played a key role in Germany's 3-2 victory over England in the 1970 quarter-final, scoring one of the Germany goals. And the 'Kaiser' joked that he hoped this Sunday's match would be as exciting, albeit with Germany emerging victorious:
"For the fans, I hope for excitement - a draw, overtime, and then penalty kicks. And then, the Germans win. Sorry!"