Mr Nyingi, 84, said he was arrested on Christmas Eve 1952 and detained for about nine years.
During that time, he was beaten unconscious in an incident in 1959 at Hola camp in which 11 men were clubbed to death.
He says he still bears marks from leg manacles, whipping and caning.
When I was released I would have nightmares about three times a week. I would dream about the murder of people at Hola. These nightmares continued for about four years.
When people talk about the Mau Mau or the colonial era I think about the terrible events I lived through. When these thoughts are triggered I get so sad and stressed about what happened that I develop a headache and I cannot work.
I feel I was robbed of my youth and that I did not get to do the things I should have done as a young man.
More top news
ITV News travels to Jordan to report on the growing global threat of the spread of deadly drug-resistant 'super bugs'.
The plight of Honduran migrants searching for safety has been harshly criticised by the US president.
Avicii, whose real name was Tim Bergling, was found dead in Muscat, Oman on Friday, according to his agent.