The Tigers trailed Nigel Clough's side 2-1 at the break, forcing the 29-year-old to let rip at his fellow players.
Immediately after the restart, Hull got an equaliser and took control of the tie to earn their place in the final with a 5-3 victory over the Blades.
Davies told The Mirror: "I left it all out there and didn't hold back. Usually I'm the type to put an arm round people and encourage them, but I thought it wasn't good enough and I told them what I thought.
"We were playing a League One side, who were outplaying us. It was embarrassing.
"Luckily I got the reaction I wanted. I'm not that type of guy, but sometimes you have to say certain things to people to give them a kick up the backside."
Hull will face Arsenal in the FA Cup final in May.