Mr Comey - a former attorney for the district of NY - was leading an FBI investigation into whether members of Mr Trump's campaign colluded with Russian Federation to influence the 2016 election when he was sacked by Mr Trump.
The book also includes some personal jabs at Trump, including references to the size of his hands and calling his face "slightly orange".
In the broadcast, he likened the President to a mafia don, and claimed that Mr Trump asked him to disprove allegations he was compromised by prostitutes in Russian Federation.
Stephanopoulos asked Comey whether believed Trump's denial. "It was my great honor to fire James Comey!". "We should be putting him down and taking him off of air instead of giving him minute after minute".
"Had it become public, the unverified material would undoubtedly have been used by political opponents to cast serious doubt on the attorney general's independence in connection with the Clinton investigation", Comey writes.
In his defence, Mr Comey acknowledged that he thought Mrs Clinton would win the presidency, adding that he was concerned that if he concealed the renewed investigation, it would make her an "illegitimate president".
"His handling of the Crooked Hillary Clinton case, and the events surrounding it, will go down as one of the worst "botch jobs" of history". Virtually everyone in Washington thought he should be fired for the awful job he did-until he was, in fact, fired.
Asked to describe that January 6, 2017 meeting two weeks before Trump took office, Comey said: "Really weird. He lied to Congress under oath". What struck him most, Comey told ABC, was that the conversation moved straight into a public relations mode, what they could say and how they could position Trump.
The conversation, Comey said, was "really weird", resulting in what the then-FBI director called an "almost out-of-body experience".
"I honestly thought these words would never come out of my mouth, but I don't know whether the current president of the United States was with prostitutes peeing on each other in Moscow in 2013". "But there's a lot of people I know who don't agree with me on that".
In the book, Comey also writes of some of Trump's physical attributes in an unflattering way.
The 6-foot-8 Comey describes Trump as shorter than he expected with a "too long" tie and "bright white half-moons" under his eyes that he suggests came from tanning goggles.
"President-elect Trump's first question was to confirm that it had no impact on the election", Comey said. Trump has denied any collusion.