Premier League chairman Richards caused a storm with his comments in the Qatari capital last week when he claimed FIFA and UEFA "stole" football from the English and urged his hosts to relax their alcohol laws for the 2022 World Cup, saying: "We would like to go for a pint".
To cap it all, the Yorkshireman - who is also a Football Association board member - then fell into a water feature during an evening function in the country's capital.
The FA and Premier League were quick to distance themselves from Richards' controversial comments amid calls for the 68-year-old to resign.
But Scudamore today insisted Richards had been "great for the Premier League".
Speaking at the Sport Industry Breakfast Club, Premier League chief executive Scudamore said: "At the end of the day, he's apologised, he apologised sincerely, he's rung the people who - if he has offended - he knows he may have offended and he's dealt with it.
"Clearly, that's a reflection that he knows what he said was wrong and misguided.
"It doesn't reflect the Premier League's views. He's away on foreign shores.
"It detracts from him, it detracts from the Premier League's image, I suppose, but the reality is he's done his stint at the Premier League, he's done a fantastic job, and he's done more for good causes, charity stuff, the stuff that never gets mentioned."
Scudamore added: "I've had 15 years of working with him, knowing him, admiring him, for who is he is and for the bluntness and the directness.
"You know what you get with Dave and he's been great for me and he's been great for the Premier League.
"He said what he said, he knows it wasn't right to say it, he's apologised to the people he's apologised to and I'm moving on."
Scudamore insisted the 20 Premier League clubs would ultimately decide Richards' fate.
"He's in exactly the same position as me," he said.
"We are there by the grace of our employers, the 20 clubs.
"The 20 clubs will decide when it's time that they've had enough of me, and they'll decide exactly the same with him.
"I'm an employee of the 20, just like he is.
"We go to public places, we expose ourselves like this. I will sit here today [Tuesday]... and say one or two things that many of my clubs disagree with."
Scudamore even made light of the controversy, despite admitting he had long been dogged by Richards' gaffes.
"Four years ago, I agreed to do this breakfast," he said. "Literally the week before, Dave was out in Qatar talking about youth development and Steve McClaren and everything else.
"I had to sit here that time four years ago and the second question was on Dave Richards and his comments on youth development. Clearly, it's just a set-up!
"We organise these breakfasts, then we send him somewhere in the Middle East, and then we get him to say some things that he wished he hadn't said and I get to come back and answer in front of everybody here."
Scudamore also declared "peace in our time" with the FA, who the Premier League have been at war with down the years on various matters.
He said "We get a little a bit precious when 'The Governing Body' - capital T, capital G, capital B - gets rolled out like a trump card.
"There's where, in the past, the thing's got a little bit fractious.
"Why I think there is peace in our time is we've actually articulated that for the first time ever and people have seen the logic of that.
"I do have some hope that the next five years might not be quite as turbulent as the last five."
Asked if relations were better since former FA chairman Lord Triesman quit, Scudamore added: "David Bernstein [the current FA chairman], who with his background understands the professional side from his role at Manchester City, he has a more collegiate approach.
"It's not about personalities per se.
"There's a different mood around at the minute, which is more collegiate, more progressive and I think bodes well for the future."