The personal trainer-and-actor insists he has no regrets about his relationship with the pop superstar in the mid-90s because if it hadn't have happened he wouldn't be a father.
He told People: 'I'm forever grateful to [Madonna]. I have no regrets. I wouldn't change anything. I got the best thing out of that relationship, and that's my daughter. My daughter is everything to me.'
Carlos admits he finds it tough disciplining 14-year-old Lourdes - who designed the 'Material Girl' clothing line with her mother Madonna - and accepts he can be too soft with her, like a lot of parents with teenagers.
He added: 'I'm a lenient dad. I'm very empathetic, and I'm good at listening to my daughter....I'm probably a bad dad when it comes to disciplining her.'
The 44-year-old actor - who stars in new film 'Immigration Tango' - claims Lourdes hasn't started dating yet, and he is 'dreading' the moment when he has to meet her first boyfriend.
He said: 'I'm dreading it so much, because she's my little girl. I want her to stay young forever. I'm already overprotective, so when the time comes, I will be ready to have a talk with the guy she brings through the door. He better be ready, because I'll give him the rundown!'