Thompson said she filed the restraining order not as a publicity stunt but "to cut the cord" with someone she once loved and "put on a pedestal".
The drummer said she hopes others who have been in similar situations are inspired to do the same and stand up for themselves.
Thompson said to DailyMailTV: "I've just been bullied this entire time.
"This has been going on for a very long time so it has taken god's strength to really make me get up and stand up for myself, starting with the restraining order.
"I don't want anything to do with this person at all.
"This has been a complete nightmare. I've been absolutely, brutally abused by her trying to control everything I'm doing," she claims.
Despite Thompson's claims of harassment, a judge denied her request for a temporary restraining order.
Beyoncé, who is currently on tour with her husband Jay-Z, has not commented on the allegations.
Thompson claims Beyoncé used witchcraft that allowed her to be "manipulated sexually", saying the singer did this by "jumping into other bodies" to watch her be intimate with partners.
Thompson said she came to a breaking point a year ago when she found out from two psychics that Beyoncé had cast a spell on her kitten, which had been brutally attacking her.
Thompson said she only had the cat for around a month before the animal started behaving strangely and "doing weird magical stuff".
She said: "I was getting abused. Every time I came home from work to rest, I was just being abused to the point where I'm still healing from a scratch on my rib cage.
"It drew blood, it was awful. It was so manic and gnarly that I ended up calling two psychics. I got the word from the first psychic and I didn't want to believe it.
"So I called later to get a confirmation to make sure, because I didn't want to believe.
"They were like the cat has a spell on it. I said what about [Beyoncé] and they were like yes, [Beyoncé] put a spell on the cat and you need to get rid of it right away, otherwise you'll be in really, really, huge trouble."
Thompson claims that Beyoncé later had the cat killed, which "ripped out" her heart.
In a bid to get away from the singer's control, Thompson says she attempted to move cities but said Beyoncé still found a way "to manipulate and control that".
She explained: "It was a very wicked tactic to keep me down, to keep me under some type of control. I've had enough.
"This has been going on since 2006 and just has been getting worse, and worse and worse.
"For a very long time, I put this person on a pedestal, I loved them... and the entire time, this person was casting spells, and manipulating and controlling my job situation, my relationships, just all kind of things."
Thompson said she regrets ever working with the superstar, adding: "I'm even embarrassed that I have worked with them because it has literally shattered every thing that I tried to build after doing that work in my life.
"I always said when I was a kid, I never would want to regret anything, but this I regret.
"I regret that we ever worked together because it has turned my life completely upside down."
Thompson claims Beyoncé has gone as far as to use her ideas, even encouraging other celebrities to do the same.
She said: "I have a lot to give to the world and she's just, I think there's a huge amount of jealousy there that she hasn't discussed with me."
"It's just been a nightmare to try and move on and do other things for other people without it getting totally destroyed.
"Other people I've worked with have been paid to fire me. I found this out and then it just kept happening. It was a pattern."
