Kyrgios, 27, crashed his racquet after losing the first set and later collided with the referee after being given a time violation for taking too long between points.
The Aussie continued to rant from his chair, claiming he needed to dry his hands before the game.
“He said that I play too slowly, according to statistics I am one of the fastest,” Kyrgios told reporters after reaching the quarterfinals of the tournament in Germany.
“I had to step aside to get my towel, there is such a thing as sweat in 30-degree heat that drips onto your hands. I needed to dry my hands and he warned me.”
Despite a heated exchange, Kyrgios regained his composure to win the next two sets with a 5-7 6-2 6-4 victory over his Greek rival.
He wowed the crowd with some amazing shots during the competition, a reminder of what makes him such a dangerous player on grass.
“The support I get from the crowd around the world is amazing. They want me to come out and put on a show,” he added.
“I am happy that I can still reach the same level in the tournaments I play. It’s a testament to how hard I work when I’m not playing.”
Kyrgios, whose on-court antics often cause controversy among tennis fans, missed out on the tournament but will now face Spain’s Pablo Carreno Busta in the next round on Thursday.