The pop superstar, 50, suffered a cardiac arrest on June 25, 2009 after being given an overdose of anesthetic Propofol.
He was in the middle of rehearsals for his mammoth London residency and had been working with his band the night before his death.
Jacko was with drummer Moffett until 1.30am in the morning, and the musician has now spoken out about the haunting moment they said goodbye for the last time.
In a post on Twitter, he wrote: “At about 1:30 AM ten years ago tonight on June 25, Michael Jackson gave me a hug after our final day’s rehearsal.
“He told me I was doing an incredible job and he couldn’t wait for tomorrow to finish the show’s run-through.
“He told me, ‘I’ll see you tomorrow. I love you, Foot’…
“I told him, ‘I love you too, Michael, not knowing that was the last time I got to say that to him or see him with life in him, still alive.
“How was I to know that several hours later, I, we, would lose him…and that there would be no tomorrow’s rehearsal.”
His death was attributed to an overdose of Propofol, a surgical anaesthetic used in operating rooms.
It had been administered by Jackson’s personal doctor Conrad Murray, who was later convicted of involuntary manslaughter over the star’s death.
He was sentenced to four years behind bars, but was released from prison in 2013 after a two-year stretch.