It's OK. Say it with me. There's no shame.
I'm not saying that it should replace your regular reading, but Audiobooks shouldn't be looked down upon for providing what they do. I listen to Audiobooks. A lot, lately. But I've been doing it off and on for years. I generally use them to introduce myself to authors I wouldn't have read otherwise. I listen to them on the way to, and back home from, work. Depending on traffic, and the length of the discs, I can get through almost 1 CD a day. It takes me 2-3 weeks to "read" a book like that, but it's not taking away from my other reading and I get exposed to some major authors I wouldn't necessarily otherwise read.
My first Audiobook years ago was NAKED PREY by John Sandford. I loved it. I went back and read all the Prey novels from the beginning, including NAKED PREY, in print. I recently borrowed a couple of Michael Connelly Audiobooks as well, THE LINCOLN LAWYER and THE POET. I was less than thrilled by LINCOLN, but I loved POET. I immediately went out and bought THE BLACK ECHO and it's on my pile to be read.
So, I encourage you, if you have a commute, or even if you're going on vacation, go to your nearest library and check one out. You might even try Charles' Audiobook for RELATIVE DANGER!