The ex-EastEnders actor was a favourite after he entered the camp at the beginning of the ITV series, but in recent days some viewers had begun to lose patience with his treatment of Homes Under The Hammer presenter Martin Roberts after several clashes.
Lamb, 69, spent 20 days in the Australian jungle where he became known for his strict exercise regime and his frequent rows with Roberts.
He told hosts Ant and Dec: "I'm disappointed, but it was such an extraordinary experience and whatever happened has changed me as a person.
"It's something you can't create, people have to create it for you, all of those people rubbing along."
The actor stayed tight-lipped about his views on his fellow campers, refusing to say who he wanted to see win, but he did share a few words about sparring partner Roberts.
He said: "I think he means well, he just..."
Ant asked: "Irritates you?" To which Lamb replied: "Yeah."
He added: "He's coping well with camp life. He's just, it's a different vibe entirely."
Lamb got on particularly well with Gogglebox star Scarlett Moffatt and said of her: "She's just a little gem."
During his time on the show, Lamb had opened up to the other contestants about his estranged eldest daughter, who he only met once when she was a baby, and spoke about not knowing whether he had any grandchildren by her.
He told Ant and Dec of the other campers' family lives: "Those familial situations I've heard about, it's made me realise how lucky I am, but how much more I've got to do."
Talking about the role he played in camp as the eldest one there, he said: "You become a father figure."
Lamb had been upset to see his friends leave the competition in previous episodes and explained how he had been feeling in his exit interview.
He said: "Obviously you know they're just going over the bridge and you're going to see them in a few days' time, but it just really emotionally walloped me."
:: I'm A Celebrity ... Get Me Out Of Here! returns on Friday at 8.30pm on ITV.