Walcott, 22, describes how Capello threatened to "kill" him after making a mistake in training and reveals that the former Juventus coach once threw a plate at Emile Heskey for using his mobile phone during a team dinner.
The publication of Theo: Growing Up Fast is thought to have seriously angered Capello, who has often stressed that private team matters should remain that way and not be broadcast to the public.
England face Bulgaria and Wales in Euro 2012 qualifiers next month and Walcott may face a dressing down from his international manager.
Other revelations believed to have incensed Capello include criticism of his regime at the 2010 World Cup, where England went crashing out in the second round after a dismal showing in South Africa.
"There was something very stiff and starchy about Mr Capello's regime before the 2010 World Cup," Walcott wrote. "I found it difficult to be myself. Players split up along club lines. There was an Aston Villa group and a Manchester United group and the staff weren't very relaxed.
"It all felt a bit tense. Everyone was a bit too serious. When he named his 30-man provisional 2010 World Cup squad on May 11, I was in it. We headed out to a training camp in the Austrian Alps before we left for South Africa. Something happened out there that shook my confidence.
"It was the second day, and I made a run inside from my position out wide on the right. Suddenly Mr Capello started screaming at me at the top of his voice. Training stopped and everyone stared at their feet and looked embarrassed. 'Theo,' he was yelling, 'I will kill you if you come inside like that again!' Despite his outburst, I never quite knew what was required of me. I was confused."