The actress, who plays Alice Trevanion in the long-running ITV1 drama, became emotional after realising it was the final time she would work with the cast and crew.
"It had a very good run, we are very lucky to be going out one last time," Steele told The Mirror.
"For me, it has been the best job I have ever done, a once-in-a-lifetime opportunity, and we will probably never get to do that again.
"At the end we had a big party but I was hysterical. It wasn't just the amazing friends I have made on set, it is all the animals.
"I mean some of them, like the lions, I have seen as babies and held them in my arms and now they are all grown up and you just feel like part of this family. It is not just saying goodbye to a job but to a way of life."
Wild at Heart, which was axed in April, airs its final episode on Sunday, December 30 at 8pm on ITV1.
Watch Lucy-Jo Hudson discuss the show's end with Digital Spy below: