The former monarch, 87, has lived in self-imposed exile in the United Arab Emirates since 2020 after a series of extramarital and financial scandals tarnished his reputation.
He had been lauded for his prominent role in Spain's tricky transition to democracy after the 36-year dictatorship of Francisco Franco ended with the general's death in 1975.
Two days before the publication of his memoirs in Spain, Juan Carlos appealed in a video to "young Spaniards, especially those who do not know the history of Spain".
"I want you to know that your parents, your grandparents and many Spaniards, united, managed to carry out an exemplary transition" in "very complex circumstances", he added with a Spanish flag fluttering in the background.
Juan Carlos said he wrote the memoirs so that young people "can learn about the recent history of your country without distortions, told by someone who lived through the transition at first hand".
The royal palace said it "knew nothing about this video" and that "we do not understand what goals it pursues. And we do not see it as necessary or appropriate".
The ex-king sought to bridge gaps with his family and nation when his memoirs, titled "Reconciliation", were first published in French in France last month.
READ MORE: Diana, Franco and brother's death - The memoirs of Spain's exiled king
But some warm words for Franco, who picked Juan Carlos as his successor as head of state, caused a stir as Spain commemorated 50 years since the end of his brutal regime.
In the video, Juan Carlos also urged Spain to support his son Felipe VI, in whose favour he abdicated in 2014, "in this difficult task of uniting all Spaniards".
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