Mike Tindall had an emotional reunion with wife Zara on the I'm A Celebrity bridge, as she ran to hug him, and the pair wrapped their arms around each other.
He just narrowly missed out on the final, leaving Hancock, Owen Warner and Jill Scott battling it out for the crown during Sunday night's live show.
Hosts Ant McPartlin and Dec Donnelly entered camp in the latest episode to reveal who was leaving, and who had made it as a finalist.
As the news came in, the axed campmate said their goodbyes - as the other three reacted to the news they had made it all the way until the end.
It comes following the elimination of comedian Seann Walsh on Friday night, who just missed out on a place in the famous task Celebrity Cyclone.
There had been speculation over whether Zara would meet Mike on the bridge, as she hadn't been spotted in Oz, unlike the loved ones of other campmates.
However after his post-eviction interview with Ant and Dec, Ant revealed that the royal was waiting for him.
Zara and Mike hugged fiercely upon seeing each other again, with Mike heard saying: "I've missed you so much", and asking her whether she is okay.
The star said there were "a lot of laughs" in camp, which he said got everyone through as he spoke to Ant and Dec.
Mike said he was "good" as he was asked how he felt about leaving so close to the end - while there was one moment he "almost had a wobble".
He explained: "The only time I nearly had a wobble was when we did the nighttime challenge but then Sean had a wobble... we got Sean through it which got me through it."
Asked about how well he did in the trials and challenges, Mike said he mentally prepared himself before he entered the jungle.
He explained: "[You have to] get yourself ready. You're gonna have that pain... don't carry it," saying he prepared himself for his "worst" moments.
Mike added: "You know that’s gonna happen so don't let it affect you and get on with it."
Meanwhile, the show has been hit with backlash from the start over the signing of Hancock on the line-up.
While he initially found himself being voted to do every trial, this soon stopped - while expectations of him leaving first were not met.
Instead, Hancock has survived all of the previous vote-offs, with other campmates leaving the show instead.
Hancock's place in the final has been met with fury.
One viewer said on Twitter: " #ImACelebrity Never felt so disappointed. Matt Hancock is a disgraced politician. How and why can this happen @imacelebrity?
Another said: "WHY ON EARTH IS MATT HANCOCK IN THE FINAL 3?!?!"
One confused viewer said: "Completely baffling that people have fallen for matt hancock’s act and put him in the final. Its no wonder the tories have been in power so long when people have such short memories."
One person said they wouldn't be watching again, writing: "That it not watching again can't believe matt Hancock is more popular than Mike absolutely rubbish."
