The Made in Chelsea star took part in the task named Savage Sewer, which saw him entering a pipe into a sewer chamber.
The chamber contained six pipes, each containing at least one star. He was told by hosts Ant & Dec that 11 stars were available, with ten minutes to complete the trial.
Taylor revealed that he was particularly scared about this trial as he does not like confined spaces, saying: "I can't even go on the tube in London I hate it so much."
Entering the sewer, the first pipe contained two pythons. Although initially concerned, he managed to grab the two stars inside.
With water flooding into the sewer, he quickly collected two more stars in the second pipe which contained cane toads. He then picked up four more stars in the third and fourth pipes.
However, he passed on the fifth pipe as it contained spiders, missing out on two stars.
With the sewer quickly filling up with water, he was able to retrieve the star in the sixth pipe, which contained a group of rats.
Having won nine out of 11 meals for the camp, he told Ant & Dec: "I'm so disappointed by the spiders one. You had to put your head under the water (to get into the pipe) and I was already freaked out when I saw the spiders."
He later added: "I'm not going to lift a finger for the rest of the day. I'm going to really, really abuse my success now to make sure I get the best out of my day."
Hugo Taylor was greeted with applause when he informed them of his success, although Eric Bristow remained asleep throughout his retelling of the trial.