The France international arrived at Santiago Bernabeu in 2011, when current United boss Jose Mourinho was still in charge of the Liga giants.
Varane has been linked with a potential switch to United ever since Mourinho took over at Old Trafford, and the 24-year-old confirmed there had been interest from the Premier League club.
Asked on El Larguero if he had been called by Mourinho to go to United, Varane said: "No, not directly.
"There were contacts, but not directly."
Varane also had praise for a United star in Romelu Lukaku, lauding the Belgium striker for how difficult he made life for opponents.
While he pointed to the likes of Lionel Messi, Neymar, Didier Drogba, Harry Kane and Robert Lewandowski, Varane said it was tough to face Lukaku.
"I feel more comfortable with fast players because I try to control the depth," he said. "For my qualities, it's what I prefer.
"When they are stronger I try to pass in front, that I cannot play. Like Lukaku, for example. He is the strongest forward in the world. It is pure power.
"You have to play differently. I try to be more complete to annoy any striker."