Former Humberside Police Det Ch Supt Colin Andrews allegedly carried out the rape in a hotel room in December 2003.
The 58-year-old pleads not guilty to seven charges including rape, stalking and harassment.
Manchester Crown Court heard he denied putting his hand over the mouth of a woman while he raped her.
Cross-examining Mr Andrews, prosecutor Owen Edwards said to him: "You wanted sex whether she wanted it or not."
The father-of-one replied: "No. that's not me."
Mr Edwards then asked: "You got on top of her didn't you?"
"No, there was no sex at all, of that I am certain. No sex that night, absolute fact," replied Mr Andrews.
Mr Edwards said: "When she screamed you put your hand on her mouth and had sex with her. Is that rape?"
"I would say so but that is not what happened. I did not rape her, that did not happen," replied Mr Andrews.
"I have never put my hand on any female's mouth ever during sex.
"Whatever she's describing, I never had sex with her. I never attempted to have sex with her. I have never forced myself on anyone, I would never do that."
Since the start of the trial, the court has heard Mr Andrews described as "controlling, manipulative and bullying".
The jury has been told the defendant held his hand over the woman's mouth while he raped her.
They also heard accusations of him pursuing a campaign of stalking and harassment against another woman in the summer of 2013, during which he sent thousands of text messages and emails.
Giving evidence in his defence on Thursday, the former detective broke down in court as he told the jury about his early police career.
The court also heard how he was the force's most decorated officer and was described as "loyal and dedicated" by a former colleague.
Mr Andrews also denies two counts of common assault, assault occasioning actual bodily harm and witness intimidation.
The trial continues.

The facility has already helped groom 100 national and one world champion as well as Commonwealth Games medallists.
Ms Jones, 18, from Bangor, Gwynedd, recently brought back a gold medal from the Youth Commonwealth Games in Apia, Samoa.
The grant-funded extension has new physiotherapy and activity areas.

The GMB union said women care workers, cleaners and janitors had been subject to pay discrimination in comparison with their male counterparts.
The union said improved offers had now been made which put members in line for "significant equal pay awards".
The council described the offer as a "positive step" in ending the dispute.
North Lanarkshire Council Leader Jim Logue said: "I have made it clear since becoming council leader that we will settle equal pay claims where these are justified.
"I am pleased to say this agreement in principle, which is subject to further discussion, with the GMB union, is a positive step towards that aim.
"This is a major milestone which I hope will mark a departure from the confrontations of the past. We have negotiated in a sensible and constructive manner with the GMB and its legal advisers to reach agreement."
Councillor Logue said the council had paid about Â£100m in equal pay claims in recent years and wanted to resolve the issue.
GMB Scotland organiser Hazel Nolan said fresh negotiations began after "a recent change in leadership at the council".
"Improved settlement offers subsequently followed, meaning GMB Scotland members can now look forward to significant equal pay awards," she said.
"The new council leadership immediately recognised the need to resolve this inequality and their willingness to work with GMB Scotland in negotiating a proper settlement means our members are at last getting justice.
"Our 'Equal Pay Now' campaign was organised after our members, including home care workers, cleaners and janitors, were forced into a protracted dispute with North Lanarkshire Council's previous leadership over pay discrimination in comparison with their male counterparts."
A senior detective accused of raping a woman after a Christmas party has said in court he "never forced myself on anyone".
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Gold medal weightlifter Catrin Jones has opened a £125,000 extension at the Holyhead and Anglesey weightlifting and fitness centre.
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An agreement in principle has been reached to end a long-running equal pay dispute between North Lanarkshire Council and about 200 female staff.