Malouda was the conspicuous absence from France's starting line-up in their Group A opening game draw against Uruguay on Friday night, leading to reports the pair had been involved in a training ground bust-up.
The Chelsea winger admitted he had been involved in an incident with the French boss in a practice session prior to the game, however he was adamant the episode was not heated as had been widely reported.
The 30-year-old insisted: "Honestly, we did not have a row.
"On the eve of the Uruguay match I committed two fouls during the training session, he raised his voice, he believed I was being overly aggressive.
"But there was no shouting match, we moved on to other things, and I am trying to be ready for the next game."
Malouda also denied suggestions he had committed the fouls in the session in annoyance at finding out he would not be starting in the game in Cape Town.
He said: "No, during this session, I took two free-kicks that hit a player, who was in the starting line-up."
Malouda had gone on the record voicing his frustration at being left out of the starting line-up after the match.
The former Lyon man did eventually come off the bench after 75 minutes in place of Yoann Gourcuff at the Green Point Stadium but was unable to help his side find a win in what was a lacklustre display from Domenech's team.
Malouda - who featured heavily in Chelsea's Double-winning campaign last season - was also said to have fallen foul of his manager's wishes to play him in a different position to his usual role for the London club.
He denied this, however, and maintained he would play anywhere for his country, adding: "I never asked for anything, I am surprised at what came out in the press.
"I have always accepted to play in whatever position has been allocated to me. I have never refused, you can ask the coach."
Malouda has had previous run-ins with his 58-year-old boss, most notably a public spat as recently as Euro 2008.
Domenech is expected hand Malouda the start he desires against Mexico on Thursday, although the midfielder says he is unaware of any such intentions.
He added: "Honestly, there has been no discussion, it is above all about recuperating at the moment. Nothing has been defined, the coach has not yet made his choices."