Nadine Dorries and Limahl were the previous two selected to go, with Brian Conley having to leave for medical reasons.
The former Birds of a Feather actress said she had enjoyed a "fantastic time", but was missing her kids "so much".
She described her experience as "much harder than you can ever expect" and "even worse than you can ever imagine", but added that she did get used to the jungle, commenting: "After a couple of days it's just like second nature."
Quizzed by Ant & Dec about "rude" Eric Bristow, Robson said: "I think it's a form of Tourette's."
She picked David Haye as the contestant she would like to win, saying he was "the biggest surprise in there" and calling him "funny", "gentle" and "kind to everyone".
She added that it was "in his nature to want to win".
I'm a Celebrity continues tomorrow (November 24) at 9.45pm.
Photo gallery - I'm a Celebrity waterfall moments: