Dennis, along with Jamie Lomas and Amir Khan, have been accused of 'picking' on radio host Iain in the jungle this past week.
But after his exit last night, Dennis says he's been left stunned by the claims.
"I was shocked to be honest when I actually saw all that," he said today.
Revealing how Iain and himself had made plans to meet up outside the jungle, Dennis continued: "I've got to get tickets for Iain and his two kids, they're going to go to Chelsea [football club]!
"I'm also going on his new talk show [and] all of us are going to Amir [Khan]'s boxing in February, when he has his first fight."
And he went on during a chat on ITV's Good Morning Britain: "I'm also going to meet him [...] where his mother is in a care home. Then there's a place called Wildwood where I'm going to meet him and have some dinner with him.
"I'm a little shocked with what's happened.
"We've got on very well and it's really interesting because I think ITV wouldn't allow [bullying] anyway.
"It's something I don't think they'd ever allow."
According to reports, TV watchdog Ofcom has received over 100 official complaints over scenes on the show.
In a statement, ITV said: "The welfare of all our celebrities is of utmost importance and we've not witnessed nor had any complaints of bullying from any of them."
Chatting on Extra Camp last night, Iain said from camp: "I'm a very nervous, socially-awkward person so the thing I've struggled with most is being around ten other big personalities. Normally, I'm quite isolated.
"There's been a couple of times when I've wanted to go, and I tend to walk away from things. So, staying here has been a big achievement for me."
I'm A Celebrity 2017 continues nightly on ITV.