Miller-Keyes spoke about her experience while in conversation with Colton Underwood, the "Bachelor" of the 23rd series of the reality dating show.
While sitting down during their date in Singapore, the 23-year-old told Underwood that she'd been drugged at a college fraternity party by a group of men whom she knew.
The next morning, Miller-Keyes claims she woke up naked in her bed.
She said a friend later told her that one of the men had raped her while she was unconscious.
"These situations happen when you're safe," The Bachelor contestant told People magazine this week.
"They don't necessarily happen when you're walking down a dark alley. It's when you're comfortable and when you let your guard down."
Following the incident, Miller-Keyes said she went to a hospital for assessment, but that hospital workers told her they wouldn't see her until she'd filed a police report.
The beauty pageant contestant said she'd been reluctant to file a police report at first, eventually summoning up the courage to do so when she felt certain about the details of the assault.
Numerous people have been praising Miller-Keyes for speaking openly about the sensitive topic of sexual abuse on the popular US TV show.
"So tough to hear Caelynn's story. Heartbreaking and am HERE for breaking down the stigma walls that this shouldn't be talked about," one person tweeted.
"Regardless of all the things we think about #TheBachelor, it's heartbreaking to hear Caelynn's story," another viewer commented.
"It takes courage to speak up like this and it's important for ABC to air these conversations."
Miller-Keyes expressed her gratitude for all the kind messages she's received since the episode aired on 28 January.
"Thank you everyone for your love and support during this time," she tweeted.
"And to all of the fellow survivors out there, I want you to know your voice matters and you deserve to be heard."
If you've been affected by this story, you can contact the Rape Crisis England and Wales helpline by calling 0808 802 9999. The helpline is open from 12pm-2.30pm and 7pm-9.30pm daily.
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