The Strictly Come Dancing was discussing hit documentary series My Big Fat Gypsy Weddings on Channel 5's The Wright Stuff when he made the comment, The Mirror reports.
"Be a gypsy and stick to your codes and don't involve us," he said of the show. "And get off our TVs. All those pikeys though, darling. Do we really need them?"
Host Matthew Wright informed him: "That's an offensive term to gypsies like using the N-word to black people. You will have to apologise."
Doing so, Horwood said: "I do apologise to the nation for the pikey remarks. I take it back."
One viewer complained on Twitter: "Craig Revel Horwood just told 'pikeys' to 'get off telly'. Hello, Ofcom."