The Fun House host left the jungle after finishing in the bottom two of the public vote and losing a bushtucker trial to his rival Fatima Whitbread.
The pair faced a challenge called 'Fill Your Face - Extreme', which required them to endure having various critters poured into a perspex box on their head.
Sharp successfully stared down meal worms, crickets, scorpions and snakes, while Whitbread managed to face soldier crabs, spiders and 7,500 cockroaches.
The challenge was halted while medics removed a cockroach that had become lodged in Whitbread's nose.
With neither celebrity giving up, hosts Ant & Dec announced that Sharp and Whitbread would compete in a tiebreaker round. The first person to remove three stars from a concoction of mealworms and slime would be declared the winner.
"Look, I am up against the toughest woman in the world and I don't just mean in sport," Sharp said of the former Olympian. "Living with her is just like living with Rambo. No offence. She is tough and I am going to try my best."
However, Sharp did indeed fail to outperform Whitbread in the final round and was eliminated from the show.
Speaking after her victory, Whitbread declared: "When it is head to head you just have to get in there and work until you get to the end. There is no point stopping."
Lorraine Chase was also eliminated from the show tonight, after receiving the least number of public votes.
Sinitta and Stefanie Powers were the first to be voted out of I'm a Celebrity...Get Me Out of Here! this week.
The show continues tomorrow (November 28) at 8.30pm on ITV1.