The 46-year-old father-of-three was checked over by medics on Tuesday 16 June after the classic Lamborghini Diablo he was driving slipped on some oil, spun off the road and landed in a field.
McGuinness revealed in a video posted on Instagram: “Hello there, back filming again with Top Gear. I thought I’d show you the Diablo.
“It’s on the back of a low-loader - gutted! You can see the damage underneath there. Hopefully, fingers-crossed we can get her back on the road. It wasn’t as bad as it was made out to be honest. But it just shows you - little bit of oil on a wet road - lethal! I were only doing about 35 mph. But anyway, I live to fight another day.”
The red sports car can be seen with the ripped rear bumper hanging off.
McGuinness turned the camera to show a silver Skoda, saying: “And we’re in that now - the mighty Skoda! That’s the whip today. Right, butty van!”
North Yorkshire Police attended the scene of the crash on a B Road which has had a high number of serious and fatal collisions.
They said in a statement: "Fortunately, nobody was injuries and no other vehicles were involved."
The Take Me Out presenter’s wife Christine McGuinness also posted on social media to reassure fans her husband was “absolutely fine.”
She wrote: “As far as I’m aware this was a minor incident and he’s absolutely fine, the lambo got it much more than he did!
”People are dying all over the world, please don’t worry his family, his friends and his fans. He’s all good.”
In a video posted after the crash, McGuinness said it had been a “mad old day” of filming in difficult weather conditions.
He added: “I finally got to drive one of my fantasy childhood cars, the Lamborghini Diablo, but it turns out 32-year-old supercars don’t like torrential rain. Who’d have thought?
“If you have ever owned a Diablo or driven one, you will know just as well as me, oh my God, she can be a cruel mistress.”
McGuinness said that he was going to have “a cup of tea, a paracetemol and a cry” following the incident.
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A BBC statement said: “During Top Gear filming in North Yorkshire today presenter Paddy McGuinness’s car skidded and left the road, coming to an almost immediate stop. Paddy was quickly taken to the production unit base for medical checks and is unhurt.
"No other vehicles were involved and the Police, who had been monitoring filming, were quickly on the scene to assist.
"Safety on Top Gear is always the production team’s priority and the vehicle’s speed at the time was within the road’s limit of 60mph.”
A video shot at the crash scene showed the supercar being covered up with a tarpaulin afterwards in a field.
McGuinness’ Top Gear co-presenters Freddie Flintoff and Chris Harris were not believed to be at the site of the crash.
McGuinness joined Top Gear as co-host for the 27th series in 2019.