Hamilton had been walking towards his car prior to Sunday’s race at Silverstone.
However, as he emerged from the paddock, the seven-time world champion brushed into Whitehall.
After looking back at Whitehall, Hamilton continued walking to his Ferrari.
The comedian later revealed he had been invited onto the grid before the race began.
Recalling the incident, he told Sky Sports: “Just now when I was being invited to the grid I nearly body-checked Sir Lewis Hamilton.
“I don’t know whether I’m going to be invited back again, it was a very cold stare.”
Whitehall previously poked fun at Hamilton during F1 75 back in February.
The presenter hosted the season’s launch event at the 02 Arena in London.
He added: “Maybe that was for the jokes I made at F1 75 as well and not just the body check.”
Despite the pre-race incident on the grid, Hamilton was able to move up from his starting spot.
After qualifying fifth fastest, the 40-year-old crossed the line in fourth at his home race.
However, he was once again denied a first podium since joining Ferrari.
Instead, Nico Hulkenberg claimed the first top three finish of his Formula One career.
The German’s maiden podium came in his 239th start after 15 years in Formula One.
Hulkenberg had started down in 19th on the grid before making up 16 places during the race.
Meanwhile, he finished behind a McLaren one-two of Lando Norris and Oscar Piastri.
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The season continues in three weeks with the Belgian Grand Prix at Spa.
It is a race which Hamilton has won on five previous occasions including last year.
