Sheen famously blasted Cryer in the midst of his public feud with Two and a Half Men co-creator Chuck Lorre. He accused Cryer of being disloyal and referred to him as a "turncoat" and a "troll".
Speaking to Playboy, Sheen admitted that it was "wrong" to publicly insult his long-time friend.
"I whaled on him unnecessarily. He was trying to keep the s**t together, trying to cover my ass, pick up the slack," he said.
Sheen further explained: "[Jon] just got caught in the crossfire. He's a beautiful man and a f**king fabulous dude and I miss him. I need to repair that relationship, and I will. I will reach out and do whatever is necessary."
Cryer notably refused to spar with Sheen in the press and later told Ellen DeGeneres that he was very "worried" for his friend's health.
Two and a Half Men has carried on since Sheen's exit, with Ashton Kutcher joining the series. The sitcom was recently renewed by CBS.