The former Dollar singer received the lowest number of votes from the public, meaning that Joe Swash, Martina Navratilova and George Takei will contest tomorrow's final.
"I'm disappointed to leave my friends [in the jungle]. It's been a rollercoaster, but I think my work was finished," he told Ant and Dec.
David denied that he had intended to cause trouble in the camp, saying: "I did say before I went in that I wasn't going to take any nonsense from anyone... As it happens all the flak came to me because I dived right in there [over the beds]."
He also responded to Nicola McLean's accusation that he had a gameplan during his time in the jungle, saying that he simply used the other contestants' behaviour against them.
"I could only react to other people's actions," he said. "Nicola gave me loads of currency, she made it really easy for me... I don't suppose I would've been there as long if she hadn't done that."
David backed Joe to win the ITV1 show, describing him as a "good guy" who is "true to himself".