Not in public, no. But there are recorded phone conversations (like the Glenda tapes) where he definitely speaks bad about his family. And rightly so, may I add. Here's a few examples:
2.2
"Joseph used to beat us all the time and... (inaudible)dance… would.... He would, he would just ..get to me. And I bought into that, he was like, "Oh you put on a few pounds." (...) And being brought up with Joseph and stuff like that.. when we were rehearsing on 2300- where we used to live. It’s like, If I danced wrong, if I sang the wrong note, I'd get the hell beat out of me, I'd get thrown in the basement. (...) When I was little [Joseph told me] "You look so black, you don't look like my child. Your nose is so big" and this and that. They used to call me Big Nose and stuff. And instead of retaliating on them, I just did it with myself."
2.3
"Joseph always told Randy “you’re not good enough, you don’t have talent.” (...) And he knocked me down on the floor one time ‘cause we were rehearsing in our living room. I did something wrong. He knocked the MESS out of me. And we were supposed to perform somewhere the next day. And he knocked me down so hard, I lost my wind, I lost my wind, right? And I was just little...so I got up, I was so furious. They talk about me being conceited now, you know? I got up and I was crying and stuff. And I said, “Joseph, if you hit me again. I’m not performing!” And he left me alone. I said I’m not doing the show! He said, “don’t you know I will kick your MF ass!” And all this and that, and I got up, the wind was knocked out of me. And I said, you hit me again and I won’t perform. And he knew I was the star performer. (...) He used to scare us when we were little. When we were asleep and we had to get up early in the mornings. We had to have rehearsals before we went to school. God, and he banged on the windows and we looked out the windows and he had a monster mask on and “Mother, mother, mother, there’s a monster!” And we’d get in trouble for crying. (...) I seen my brothers, you know, when we were travelling and stuff and doing the circuit and all that. Joseph would be in another room messing with a girl and it was obvious they were having sex...I didn’t wanna tell mother, and Marlon and I didn’t wanna tell them but.. all my brothers kind of just… did the same thing (...) Glenda: And Jermaine, what is he doing? Michael: Oh GOD… I remember, like I told you before, when Marlon and I had to share a room with Jermaine and Bill was asleep. Jermaine would have girls up there all the time screwing and stuff. I always (said I’d never ??) Marlon said the same thing. I felt so guilty when we used to home from the circuit and stuff before we made it, you know we used to do the club circuits and stuff. I felt so guilty, and I just cried and Joseph choked me, almost broke my arm one day. But he was proud of it. It’s like, (Joseph’s voice) “Oh, this is what you should do, boy.” I mean, he didn’t say that but he was screwin’ women in the other room and stuff (...) Joseph would come home, so glad to see mother. It’d just make me sick. And then Jackie and everyone, they started doing that. I told this girl – Jackie saw her when we were on stage. I told this girl, I said, “Don’t go with Jackie.” He found out and he went backstage and stuff and I said, “Don’t go with him, please don’t go with him.” She’s like, “Why?” I said, “Please don’t go with him, he’s gonna hurt you.” So, she went. She met him. She was a virgin. And he had sex with her and stuff like that. And in the limo, we were in the limo. And they were gonna take this girl home. Like, I said, “Why did you do that? Why you didn’t just listen to me? Why did you do that? Why did you go with him?” And she was just crying. I said, “Did he hurt you?” and she said, “No. But he told me after we had sex that he never wanted to see me again.” I said, “why did you go with him? I told you backstage don’t go with him.”
2.5
Michael: Latoya’s saying all this and that, Latoya upsetting you
Glenda: I tell you Latoya and I went around and around
Michael: *laughing*
Glenda: God, I remember that and she said what do you want and I said, well what do you want? We want back and forth and then finally she said she told me what she said, she said “I want it to end” and I said, “Well, you’re not gonna get that, Latoya.” Funny, she wanted to meet us, she wanted us to meet-
Michael: I know! Her and her…
Glenda: *laughing*
Michael:….hit man, hit man boyfriend.
Glenda: Yeah *laughing*
Michael: I was going to say nigger
AND MY FAVOURITE (3.1):
"You have to act like all that stuff that happened with, with Joseph and stuff. It’s like we’re supposed to be the perfect family, you know, because they're putting your name out there and stuff and, uh, they’re supposed to you know, look good because it sells records and it attracts people (...) It’s like, “the Jackson family, they’re so wholesome” and we all took pictures together back in the Jackson 5 days with Motown and stuff like that. We were all so close and Joseph was, you know, Papa Joe”. You know. And then LaToya told the truth. They portray everything you know, because of publicity. “The Jackson family. They lived in a ghetto in Gary, Indiana and they made it and they’re so tight knit.” Tight knit , my ass."
^ If after reading all this (and this is just a small selection) you still think Michael was close to his family, you must be pretty naive. Sure, these conversations are old (early 1990s) but he speaks of evens that took place in the 1960s so if it bothered him so much still after 30 years, I doubt he changed his mind in recent years. Plus we know Jermaine recorded that awful song "supposedly" to get in touch with Michael again, and Janet saying on national television she hadn't seen Michael in years. That should tell you something.