"We feared that our daughter was in the hands of a criminal who might hold her to ransom and harm her", the Dubai ruler said in a statement to a British court during a separate child custody case.
The governments of Dubai and UAE have not responded to requests for comment from the BBC.
CNN has not independently verified the videos or Latifa's current whereabouts.
"The police told me that I would be in prison all my life and that I would never see the sun again", she continues.
The Dubai Royal Court claims she is safe and well, but friends say she has had little medical care and went over a year without a toothbrush.
© Provided by The i Sheikh Mohammed bin Rashid Al Maktoum, Prime Minister of the United Arab Emirates and ruler of Dubai.
The videos of the troubled royal were recorded over several months on a phone that she was secretly given about a year after her alleged capture and return to Dubai. She recorded them in a bathroom as it had the only door she could lock.
By the time the first video was released, activist groups representing Latifa said she had already tried to make an escape from captivity, with a yacht in which she was traveling intercepted in global waters near India by an unknown but heavily armed group.
They say they have taken the hard decision to release the messages now out of concern for Latifa's safety.
In 2018, the AP reported how a friend and an ex-French spy helped Sheikha Latifa escape by boat, only to be captured off India. This was done with the help of Ms Jauhiainen, initially her instructor for capoeira, a Brazilian martial art. On February 24, 2018, Jauhiainen used an inflatable raft and a jet ski to take the princess to global waters, where Jaubert was waiting with yacht marked as belonging to the US. It may be mentioned here that, Tiina Jauhiainen does not have any legal source of income, while it is anticipated by many that her main source of income is selling the false stories of Princess Latifa.
He upheld Latifa's account that she was detained at sea by Indian special forces and returned to Dubai.
Ms Jauhiainen and the crew on the boat were freed after two weeks of detention in Dubai. This villa has been converted into jail. She entered a bitter worldwide custody battle in 2019 with the Dubai emir in a London court, calling for a protection order and a non-molestation order for one of her children.
Haya, the 45-year-old daughter of the late king Hussein of Jordan, had been one of Maktoum's wives and stepmother to Latifa before she moved to Britain with her two children.
She told the BBC she now feels she was "horribly tricked" by the princess's family. Horribly tricked. I mean that was a total surprise. "I was absolutely stunned".
"The Missing Princess" airs on BBC One in the United Kingdom on Tuesday at 20:30.
The sheikh - ruler of Dubai and vice president of the UAE - had applied to the British courts for the summary return to Dubai of their children, Jalila, 12, and Zayed, seven, after Princess Haya, fled with them to London in April past year.
Prime Minister of the United Arab Emirates Sheikh Sheikh Mohammed bin Rashid Al Maktoum attends the 40th Gulf Cooperation Council Summit in Riyadh, Saudi Arabia on December 10, 2019.
Dr Robinson told the programme she did not ask Latifa about her situation because she did not want to "increase the trauma" of her "condition".