Nereo, 17, became the oldest horse to win the showpiece event in south-west England.
"Of course, I knew I would win Badminton one day – I just didn't know when!" said Nicholson who first competed at Badminton in 1984.
"Nereo is a truly amazing horse. The amount of big events he's done year after year is unbelievable," the six-times Olympian added.
"It's been worth the wait. I've won big events before but this just feels so different."
(Reporting by Hardik Vyas in Bengaluru, editing by Ed Osmond)
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