The former EastEnders actor and partner Flavia Cacace left the dance contest after head judge Len Goodman chose Don Warrington and Lilia Kopylova to stay.
Speaking on BBC Two spinoff It Takes Two, Daniels told Claudia Winkelman that he is "not that surprised" that he was voted off.
He said: "I was stiff... I think I could have done it a bit better."
Cacace added that unless a couple are safe after the panel's scores, they can potentially face the boot.
"Unless you're in the top two, you can go out. You just never know," she said.