The Tour informed Froome he wasn't welcome until the UCI announced on Monday that Froome's result did not represent an adverse finding on advice from the World Anti-Doping Agency.
"Doing the Tour de France and the Vuelta (a Espana) past year taught me an wonderful amount about how to manage my training and that sort of thing". "As it is I'm now happy to draw a line in the sand and move on".
Froome is aiming to join Jacques Anquetil, Eddy Merckx, Bernard Hinault and Miguel Indurain as the only riders to win the Tour five times.
"I think this year's race is going to be the biggest challenge of my career", he said.
First French sprinter Arnaud Demare saw his hopes of a stage win ended in a tumble, then Team Sky's Egan Bernal, the youngest rider in the race at 21, slid off the side of the road in another incident.
"In terms of safety I obviously would encourage fans of the sport to come watch the race, and if you are not necessarily a Chris Froome fan or a Sky fan, come to the race and put a jersey on of another team you do support".
" "I can understand ASO's position", Froome told a packed press conference in a local sports hall that was used instead of the team hotel when around 150 journalists showed up. At any football game, when the opposing team arrives, or in a basketball venue when a shooter takes a free throw, or in rugby when a player takes a penalty, we hear the same things".
Geraint Thomas was also in the front group, the only Team Sky rider not to lose time on the day. It's something I've never done before so it's completely unknown to me.
"But the peloton will protect him, the police will protect him and the (Tour organisers) ASO will protect him", insisted the veteran of 20 Tour de France races.
Brailsford went on to praise Froome's strength of character after being wrongly accused.
"Chris has shown great strength and integrity while also maintaining his form".