Before his departure from the programme was confirmed, Ant had faced backlash last year over his controversial comments about the Black Lives Matter protests and the coronavirus pandemic.
Ant claims he left the show because producers tried to make changes to the challenges contestants faced and tried to soften his tough-guy image.
He said: “It’s unfortunate and disappointing but when something has run its course and you’re forced to change to someone you’re not, it’s time to move on.
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“The way I do stuff is maybe a bit too tough for society these days, but, I stay true to my values and who I am.”
The dad-of-five added of his move to the Australian show: “The beautiful thing is that we have full control of the course.
“It’s why it was so successful because you let the experts get on with their field of expertise.
Previously, four female members of the Channel 4 version of SAS: Who Dares Wins claimed that he had made “lewd and suggestive comments” during filming.
The allegations detailing the “inappropriate” behaviour were sent to media union Bectu by the women after they became enraged by Ant’s comments on Good Morning Britain.
A spokesman for Middleton has denied this, saying the presenter “wholeheartedly and emphatically rejects the allegations, adding: “Ant has worked on TV sets around the world for many years and has never at any point been accused of speaking inappropriately by anyone.”
In a full statement, Channel 4 confirmed that they had parted ways with the former soldier over his behaviour.
It read: “Ant Middleton will not be taking part in future series of SAS: Who Dares Wins.
“Following a number of discussions Channel 4 and Minnow Films have had with him in relation to his personal conduct it has become clear that our views and values are not aligned and we will not be working with him again.”