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The challenge, Castle Kitchen Nightmares, saw the presenter attempt to find a series of stars in a grim kitchen setting bursting with bugs and rodents.
Madeley also had to dive down a rubbish chute crammed with rotten food and fish guts.
His exclamations during the challenge, such as “This is really, really hard” and “I can’t undo it, it’s wet and it’s tight”, proved too much for hosts Ant and Dec, and some viewers, to cope with.
“Peak Alan Partridge!!” tweeted one, while another added: “It’s wet and it’s tight sounds a bit sexual.”
A third posted: “I’m sorry but I’m convinced that anyone who’s ever written for Alan Partridge just spent a day with Richard Madeley & kept notes #ImACeleb.”
It's like innuendo bingo with Richard Madeley tonight! First we had the knot is wet and tight now he said when we he goes for a target he likes to hit the bulleseye not the outer ring! #ImACeleb pic.twitter.com/7pvrPLwWh9
— Codsall Si (@codsallsi) November 24, 2021
— Reddevilbluemoon88 (@Reddevilbluemo1) November 25, 2021
Madeley only managed to get four stars, meaning four meals for him and his campmates.
The reality competition show is being filmed in Gwrych Castle in Wales for a second consecutive year due to the pandemic.