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Piers left ITV's morning news show after he made several controversial comments about the Duchess of Sussex, Meghan Markle, following her groundbreaking interview with Oprah Winfrey.
Meghan said she had suicidal thoughts as a result of public scrutiny and media backlash, but scandalously, Piers suggested she was "lying". He also suggested claims the Duchess made about racism were for attention.
Susanna said Good Morning Britain will be a 'very different' show but 'shows go on'.
Susanna opened Wednesday's programme and addressed her former co-star's leaving and acknowledged to his often divisive personality and views.
She said: "A number of people will know the news and many of you will not and will be surprised that Piers Morgan is not here this morning.
"Now, Piers and I have disagreed on many things and that dynamic was one of the things viewers loved about the programme.
"He is without doubt an outspoken, challenging, opinionated, disruptive broadcaster.
"He has many critics and he has many fans. You will know that I disagreed with him about Meghan's interview. He himself clarified his comments about her mental health on the show yesterday."
Susanna said there are "many voices" on Good Morning Britain and "everyone has their say".
She added: "But now Piers has decided to leave the programme. Some of you may cheer and others may boo.
"He has been my presenting partner, Monday to Wednesday, for more than five years and during Brexit and the pandemic and other issues, he has been a voice for many of you and a voice that many of you have railed against.
"It is certainly going to be very different but shows go on and so on we go on."
ITV announced that the presenter and journalist was leaving Good Morning Britain on Tuesday evening with a brief statement.
The announcement came after it was revealed that the watchdog Ofcom received 41,000 complaints due to Piers' comments and would launch an investigation.
Meghan's father Thomas Markle was interviewed by Piers and Susanna during Tuesday's show.
Susanna was joined by Ranvir Singh on Wednesday morning. She called Piers 'Marmite' and agreed with her co-presenter's comments.
Ranvir said: "I'll tell you what, I didn't make any comment about it until after I saw it on ITV, you know when you watch clips and then the whole echo chamber and everybody saying things...
"I felt you would have to have a cold heart to not feel something. Just the idea that somebody is feeling that way, I think you have to have a heart and you feel something for that person."
Before leaving the show, earlier in the day Piers had stormed off the set following a heated discussion with his colleague, Alex Beresford, about the Meghan.
On Wednesday, Piers reiterated his comments about Meghan's interview with Oprah, he tweeted and said he still does not believe what Meghan said in her interview with Winfrey.
He tweeted: "On Monday, I said I didn't believe Meghan Markle in her Oprah interview. I've had time to reflect on this opinion, and I still don't. If you did, OK. Freedom of speech is a hill I'm happy to die on.
"Thanks for all the love, and hate. I'm off to spend more time with my opinions."
Featured Image Credit: ITV
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