The 25-year-old mother-of-two passed away from a drug overdose in April 2014 and Bob, 64, admitted it was something he had feared.
Speaking to Miriam O'Callaghan on Ireland's RTE Radio 1, he said: "Part of me kind of half-expected [it with] Peaches, to be honest with you – the way she was carrying on, there’s nothing you can do about it."
However, while he may have "half expected" Peaches' tragic demise, Bob admitted he is struggling to come to terms with the loss of his daughter.
He explained: "This thing of being forever 25, in my head, that's unbearable, simply because of that cliché – you’re not supposed to see your children die.
"But she is the one who is with me every second of the day and she is the one who bangs into my consciousness at any moment, especially in any down moment... where I'm not doing something. She's very present.
"Time does not heal, it accommodates. But it is not accommodating this."
Peaches' death echoed that of her own mother Paula Yates, who died in 2000 from a heroin overdose.