Hugging her campmates, she said: "You have been brilliant, all of you. See you on the other side!"
Cleaver skipped across the bridge to meet the presenters, saying: "My time is done."
She was then played her highlights following her 17 days in the ITV jungle camp.
"I have absolutely adored it," the star said.
But she admitted they could stick the gruelling trials "where the sun doesn't shine".
The actor also said the anxiety and having no control over what happened each day had got to her and that she'd "hit a wall".
"You feel very vulnerable... things get to you," she explained.
"I'm glad it ended there because you don't want to see 'Bad Sue'," Cleaver told the presenters.
The TV star was close to Mike Tindall during her stay in the jungle and said he was a "top man".
But she said she would like to see footballer Jill Scott win the show.
I’m A Celebrity…Get Me Out Of Here! continues tomorrow (Tuesday) at 9pm on ITV1 and ITV Hub.
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