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The broadcast veteran was taken ill in the early hours of the morning, shortly after the Kitchen Nightmares Bushtucker Trial.
While he was treated by onsite medics, Richard, 65, was taken to the nearest hospital as a precaution.
However, his exit from Gwrych Castle meant he had broken strict Covid regulations, which meant he was not allowed to come back to camp.
Explaining his exit on Instagram, Richard wrote: "I started to feel briefly unwell in the small hours of the morning and was taken to hospital as a precaution.
"By leaving the camp, I had consequently broken the Covid ‘bubble’ and as such I’ve had to leave the castle and all the wonderful celebs that remain in the camp."
He continued: "Obviously I’m gutted to be leaving so soon but the safety of all the campmates is the number one priority. I’m incredibly excited to watch their journey continue…even more so at the prospect of being somewhere a little warmer than Gwrych Castle.
"Thank you to everyone who supported me on my brief but completely unforgettable adventure – I’ve made some great friends and honestly had the time of my life."
A spokesperson for I'm a Celebrity...said: "Our strict Covid protocols means Richard has sadly had to leave the show as he is no longer in the bubble the celebrities form when entering the castle. He has been a truly brilliant camp mate and we thank him for being part of this series."
Richard's exit comes just as two soap legends join the camp in tonight's edition of the show.
EastEnders' Adam Woodyatt, who plays squealing businessman Ian Beale, and Coronation Street's Simon Gregson (Steve McDonald) will now be joining our remaining celebrities in the battle to be crowned King or Queen of the castle.
The pair will join the camp in style, as they'll be forced to take part in a Bushtucker Trial to win food for our celebrities.
How is it all kicking off already when we're just three days in?!
I'm a Celebrity...continues tonight at 9pm on ITV and the ITV Hub.
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