The Fresh Prince of Bel-Air star spent more than two weeks living in the Australian rainforest for the survival show, and was frequently captured on camera breaking down in tears and telling his fellow celebrity contestants he wanted out.
The actor, who became a dad to son A.J. just weeks before the show began, was eventually dismissed by viewers on Thursday, and within minutes of leaving his former camp home, Ribeiro confessed he had come close to a breakdown.
He told viewers, "I almost lost it back there. I'm so ready to see my wife and A.J. Yeah, I'm very happy. Thank you for finally giving me my wish."
He added, "I certainly didn't expect it to be this tough."
Olympic swimmer Rebecca Adlington was also voted out on Thursday.
Five stars, including Westlife singer Kian Egan and celebrity dress designer David Emanuel, are still competing to become the ultimate celebrity survivor on the show, which ends on Sunday (08Dec13).