The Welsh singing legend was a coach on the show for its first four series but was dropped from the line up in 2015 for the then upcoming 2016 run.
However ITV have brought Sir Tom back on board this year as the channel takes over the show for its sixth series.
Reflecting on losing his job as a coach, Sir Tom admitted this week: "I was p***ed off. I never got to the bottom of who made the decision."
He told the Radio Times magazine: "It was between the production company Wall To Wall and The BBC, and I still don't know why.
"The first thing I thought was 'Why have they left it so late in the day?". When we got the call, we said 'When did you make this decision?' 'Yesterday. And we're going to give it to the press tomorrow.' Oh, that's nice!"
Sir Tom said receiving the news was a "kick in the b*******" and recalled: "When I used to work in factories or on a building site, you'd get a week's notice at least!
"They don't call you up on the day before and say, 'Sorry, don't come in tomorrow'. You don't make a decision like that overnight. The decision was made earlier but they just didn't let me know."
Sir Tom Jones will be reunited with Will.i.am on The Voice UK panel this year with the pair joined by new coaches Gavin Rossdale and Jennifer Hudson.
The Voice UK 2017 launches this Saturday night on ITV from 8PM with the first round of blind auditions.