The heavyweight boxer volunteered for tonight's trial, saying: "After all the fun we had yesterday, I think it is about time we got down... and dirty and cockroachy, so bring it on."
When Haye reached the trials area, hosts Ant & Dec asked him how he felt to be in the final three.
"It feels really good," he said. "I didn't expect it to last this long in a million years, but now I'm here I'm just going to embrace it and look forward to the sludge, raw meat and maggots and all that lovely stuff you've got for me."
Dec then outlined the trial, which saw the boxer having to climb inside a bucket and be lowered down into darkness. Once submerged, the presenters explained that Haye would have to reach into holes either side of him to retrieve three stars of different colours that were split in half. Both halves of each star were needed to obtain a meal and the sportsman would have only 10 minutes to complete the challenge.
Once the klaxon had sounded, Haye confronted yabbies in the first hole.
"I felt some sharp little claws like some sort of lobster," he said as he found the first half star, before shaking off scorpions to claim another half.
The sportsman was lowered to the next level, where he moved a baby crocodile aside to get a third fragment. As he put his hand into the fourth hole, Haye said he could feel a rat that "[didn't] want to move". After trying to get the creature to shift, it attacked Haye's hand as he was showered with mealworms.
"It's really going to work on my hand," he said. "What the hell is that? I've got bite marks, thanks for that."
When he had successfully picked up both half stars, the boxer was lowered deeper once again. "Hopefully the critters don't get any worse than that one," he remarked.
Haye plunged his hand into hundreds of cockroaches, before realising the hole was a decoy without any star pieces. He moved on to the next, which contained a large snake.
"I tried to be gentle with that critter and he just wouldn't listen," he told Ant & Dec, before adding: "Hello snakey snake please don't bite me," as he picked up another half star.
Green ants awaited the boxer on the final level and as he turned to retrieve the last half star, cockroaches were poured over him.
"I'm glad it was me and not the girls who did this," he said upon returning to ground level. "They wouldn't have liked this one bit, they wouldn't have liked that ferret or whatever it was that bit me, plus I have a neck and back that's been bitten up by cockroaches and worms."
Dec told Haye that he managed to complete the trial with only half the allotted time having passed and explained that it was a bandicoot that had attacked his hand.
"It was a small price to pay for dinner," said Haye. "I knew you were going to crank it up today and make it hard and putting that bandicoot in there was definitely a good start.
"Food is in short supply right now and with Charlie as the new head chef I had to bring something home for the girls. Getting bitten by a bandicoot wasn't pleasant - he really gnawed on my hand - but I had to get the star so I just grinded through.
"There was no way I was going to go back to camp with anything less than six stars as I've got to keep the girls happy and they will be over the moon."
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