The 62-year-old was chatting to Joe Swash on today's Good Morning Britain about appearing on ITV2 spin off show Extra Camp in the past when he made the admission.
When Joe insisted I'm a Celeb is a "brilliant show", Richard said: "Well we did the show on ITV2 where you look at it and take the micky out of it."
Kate, 51, then asked if Richard would do it, and he said: "No I wouldn't do it, I wouldn't dream of it."
Kate insisted he'd be "brilliant" and said she was going to start a petition. But Richard replied: "You can get as many signatures as you want I'm not doing it.
"I'm a little bit of a control freak and in that show it looks all free but you're so manipulated by the producers, which is fine, that's part of the fun, but I wouldn't want it."
Richard has appeared on the spin off show Extra Camp before and did a Bushtucker Trial
Joe, 37, said: "Last time I saw you Richard you were in a pit of snakes."
Richard replied: "That's right, I was in a coffin and they were putting loads of snakes in, you were in one with loads of insects.
"I actually quite enjoyed it."
He then joked: "It was like a home from home, I thought 'I'm on GMB again', no it's lovely here everybody, it's my last day so I can have a little dig.
"I know some people are freaked out by snakes but they're all constrictors that they put in the coffin with you and obviously they're very muscly and it's like having a massage."
Joe agreed Richard had handled the Bushtucker Trial with aplomb and it was like he was "having a spa day".
Richard then asked Joe, who co-hosts Extra Camp each year, about the cockroach he'd had trapped in his ear during last year's series.
After Joe revealed he has half of the critter in a jar, but doesn't know where the other half is, Richard's co-host Kate Garraway freaked out.
So when Richard asked her if she'd do the show herself, she replied: "Not now, not after hearing that story!"
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