He also claimed that the show's singer, Jane Tucker, was nicknamed "Miss Whiplash" because she would flash open her coat to show a "leather S&M outfit" and ask Zippy to "play with her maracas".
Le Drew also claimed the cast would place the on-set models of zoo and farm animals so they were in sexual positions.
He says there was also a culture of heavy drinking and the group would regularly turn up drunk to rehearsals.
According to Le Drew there was also jealousy on the show, as host Geoffrey Hayes became frustrated that his star was eclipsed by the puppets, who received more fan mail than he did.
"Geoffrey was afraid of being upstaged by Zippy and George", said Le Drew.
Bad behaviour behind the scenes of Rainbow won't be news to some after a 1979 recording, meant for a staff Christmas tape, was leaked in 1997.
The infamous Twangers episode later became popular on You Tube and showed Geoffrey and the puppets engaging in some very risque conversation.
The long-running show was cancelled in 1992, but has remained a cult favourite ever since.