He said: “The press made the allegation that I was going around putting my d— on everybody’s shoulders.
“Having that happen to me ruined me, but this course is going to help me push through this and I want people to see the kind of person that I really am.”
He later added: “On Doctor Who and Torchwood, I had to do a lot of nude scenes. If I were being stupid, I would do something stupid.
“I would shake and waggle or I might do a scene where I might have one of my bollocks hanging out.
“The press made it out that I was a sexual deviant. We’ve all done stupid things and silly things, but what’s been said about me will never go away now.”
Contestants in this series include Rachel Johnson, the sister of former prime minister Boris Johnson, reality star Pete Wicks, former Olympic gymnast Ellie Downie, comedian Tez Ilyas, professional basketball player and Love Island star Ovie Soko and world heavyweight champion boxer Lani Daniels.
Reality TV Star Bianca Gascoigne, former England rugby captain Chris Robshaw, TV Presenter Cherry Healey, former professional boxer Anthony Ogogo, comedian Shazia Mirza, Love Island contestant Georgia Harrison, reality star Bobby Norris and former Geordie Shore star Marnie Simpson complete the line-up.
Series six of Celebrity SAS: Who Dares Wins will air on Channel 4 every Sunday and Monday at 9pm.