The Briton collided with Simon Gerrans during the sprint finish in Harrogate, which was won by Marcel Kittel.
Cavendish, who rides for Omega Pharma - Quick-Step, admitted he was to blame and that he would say sorry to Gerrans.
"It was my fault, I'll apologise to Simon," he said. "I tried to find a gap that was not there. I wanted to win."
The 29-year-old Manxman spent several minutes on the floor before being helped back on to his bike and he gingerly rode over the finish line.
Cavendish, who is joint third on the list of most Tour stage wins with 25, had been among the favourites to win the stage, which would have seen him wear the leader's yellow jersey for the first time.
Sunday's second stage runs 201km from York to Sheffield and features around 3,000m of climbing, spread across nine categorised ascents.
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