The former Doctor Who star lost in the head-to-head Bushtucker Trial against Eric Bristow. It was revealed that the pair had received the fewest public votes yesterday (November 24).
Ant and Dec revealed the results of the challenge live on air by weighing in the pair's stars won in the Panic Rooms trial. Baker's stars weighed in at just 82 grams in comparison to Bristow's 260 grams.
Baker appeared happy to be leaving the jungle and noted that he had looked forward to the moment after spending 16 days in Australia.
Talking about the challenge that he lost, he commented that he "met a crab I could have killed" before being shown footage of being nipped by the crab.
Ant and Dec also commented on Baker's weight loss, that had earlier been discussed by the camp, and said that he probably had campmate Helen Flanagan to thank after her poor performances in the initial trials.
Baker revealed that he had enjoyed making a close friend in Rosemary Shrager but said that he would like his trial opponent Eric Bristow to be crowned King of the Jungle at the end of the series.
I'm a Celebrity...Get Me Out of Here! continues tomorrow at 8.30pm (November 26) on ITV1.