The Honduran joined Spurs for £12m in January 2009 and was a key figure in their run to the UEFA Champions League quarter-final the following season.
However, Palacios has revealed that he was suffering with a knee injury throughout their European campaign and was disappointed with the treatment that he received, which forced a move to the Potters in 2011.
"Tottenham was a difficult time," he told the Sun.
"I felt they would look after me better after I played injured for them. I don't feel they treated me well after the injury."
The 29-year-old is set to face his old club at the Britannia Stadium on Saturday afternoon, with Palacios keen to prove his worth to the Stoke faithful following a difficult spell under previous manager Tony Pulis.
"For Pulis, I played on 42 minutes last season," he added.
"He bought me for about £6.5m and I don't know why. I want to show the fans that I am not a lemon.
"I feel I haven't given anything to Stoke for what they paid."