The Belgian international was the subject of interest from the Blues prior to Antonio Conte's move to Stamford Bridge, but Nainggolan has since signed a new deal with Roma until 2021.
The midfielder, who said that living well is his first priority as a footballer, told Belgian magazine Sport Voetbal that "everything is perfect" in Rome.
"I could have gone to Chelsea and many other clubs, but starting something knew when you are 28, 29, in a new culture, another lifestyle, that's not for me," Nainggolan said.
"I prefer to stay where I feel good. If money were my only motivation, I would have changed clubs many times and my salary would have grown, but my first priority is to live well. You need to live well and be happy playing where you are and I have both of those things here. Everything is perfect; my family is happy in Rome.
"There are lots of good restaurants and it's a good place to go shopping. When friends or family come to visit, you can send them almost anywhere. I'm liked at the club and the supporters are behind me.s a footballer, that's one of the best things you can get."
Nainggolan joined Roma in 2014 from fellow Serie A side Cagliari.