She made the revelation in a speech at the National Automobile Dealers Association meeting in New Orleans on Monday.
Clinton says she had drivers when she was first lady, then later as senator, then as secretary of state.
She says not being able to drive is one of the regrets she has about public life.
It didn't take long for Republicans to jump on Clinton's comments. A GOP group posted a video of Clinton's speech under the headline, "Out of Touch?"