The heavyweight boxer was nominated by his campmates to take on the 'Scare Plane' challenge, after they deemed him the most likely to bring back the stars.
As he headed to the trial area, Haye said: "My main fear is losing itself. I'm aiming for nine stars and if I get anything less than that I'll be disappointed."
After telling hosts Ant & Dec that they might witness him "screaming like a little girl" as he wasn't sure if he was scared of heights, Haye admitted that the mood in the camp had "got real".
"The game has really started," he said. "We are nervous when you turn up in camp and evict somebody."
Dec then explained to the sportsman that the trial would take place on a precariously balanced plane hanging over the edge of the valley.
"You are going to climb into the cockpit and fly it out into the middle of the valley," he said. "Once you've found all the stars on board that plane you'll need to leap across onto a second plane.
"The stars are not only in the cockpits. So you'll have to climb along the wings and search the outside of the planes too."
"I'm not the lightest of competitors," said Haye looking on. "The thing I am most afraid of is being a failure... I'm not so fussed about the creatures. I fear not getting the stars, I don't want to let the rest of camp down. The pressure is on - let's do it!"
Once in the cockpit, Haye was joined by bug drops of cockroaches, meal worms and darkling beetles as he found the first two stars.
"I'm not looking down, just concentrating on the job in hand," he said, as he rummaged amongst biting green ants and soldier crabs on the craft's wings.
With four minutes gone and four out of four stars found, the former WBA heavyweight champion was taken to the second plane.
Meal worms fell from the ceiling and Haye confronted scorpions to grab another pair of stars. "This is when I wish I was a featherweight,' he joked.
After spotting the last star hanging high above the plane, Ant urged Haye to "take a leap of faith". The boxer accepted the challenge and earned the ninth and final star.
"I'm very happy with that," he said after the trial. "I wouldn't have been happy with eight stars, it had to be nine stars.
"Everybody believed in me so if I came back with a less than perfect score there would be a few raised eyebrows. I'm looking forward to what Rosemary is going to cook for us tonight."