The pair had become firm favourites during this year's series, with Joey tipped to take the jungle crown but he finished in fourth place.
Hosts Ant and Dec delivered the unexpected news to the camp which resulted in gasps of disbelief.
Speaking after her exit, Amy told the Geordie duo: "I never thought I would make it this far and I am shocked that I did.
"I had the most amazing time, it has been the best.
"I was hard at times, but you learn so much about yourself and it was an opportunity to grow as a person."
Joey seemed to be in daze that he had left the jungle, but managed to say: "It was the best time ever.
"It really was the most amazing experience, you just can't explain it.
"I didn't expect it to be as hard as it was... but I wanted to give it everything I had and I did."
It was creepy sick.
Joey Essex on his time in the jungle
Joey and Amy's exit means there are now only three celebrities left in the jungle - former Westlife star Kian Egan, Emmerdale actress Lucy Pargeter and Royal Fashion Designer David Emmanuel.
Before Joey and Amy left on Friday they had the opportunity to take part in one more Bushtucker Trial which was a team effort, as all five celebrities donned superhero outfits to tackle the Celebrity Cyclone.
They battled the elements to get five stars on five markers and they had to keep them there until the end of the trial.
The first person had to get to the first marker with all five stars, then the second person had to get four stars from the first person and get to the second marker, and so on.
Battling their way through wind, water and balls, the exhausted celebrities were ecstatic to win five meals for their dinner.
"Kian, you were an absolute hero," said Amy after they completed the trial.
"Tough but hilarious," added Lucy.
Meanwhile relations between Lucy and Amybecame worse after Lucy accused Amy of posing for the cameras.
The soap star was already upset at losing her friend, swimmer Rebecca Adlington, who was voted out on Thursday night, before she clashed with Amy over the cooking.
She told Kian: "I'm ready to blow. I'm sick of it all, emotionally, annoyance. I'm finding it so frustrating being tongue-tied because nobody sees what we see."
The Irish star tried to keep her calm, telling her he knew "exactly" what she was talking about, but she still snapped at Amy when she started brushing her hair while wearing a skimpy orange bikini.
I'm ready to blow, I'm sick of it all.
Lucy told the model: "They are getting great shots of your a**e".
Amy replied "Are they?" and Lucy told her: "Of course they are - you've got a bikini on and you've got your a**e to the camera."
The model did not help herself when she handed over two smuggled bikinis and a lipstick after show bosses threatened to take away some of the group's food if she refused.
Fashion designer David told Kian that Amy had been unfair to her fellow female celebrities by keeping the contraband.
He said: "The other girls didn't have any make-up. She looked camera-ready while the others were scrubbed free so she's cheating and that's not good."
But the day ended on a happier note when the campmates received phone calls from home.
The celebs were told that ten wooden phones had been hidden in camp and they would have to find them and then call the numbers on them.
Five would be invalid numbers, whilst the other five would put them through to friends and family.
They all rushed about the camp and first up Joey got to speak to his dad Donald.
"I miss you so much, dad," he said. "We're all really, really proud of you. All love you," Donald told him.
As they found more wood phones David spoke to his sister Margaret, Amy spoke to her mum and Lucy spoke to her fiancé Rudi.
The time ran out and they had found eight out of the ten wooden phones, meaning that Kian was the only campmate not to speak to a loved one.
"It's okay," he told his fellow campmates. "I'm the only person here, still left, that got to see their loved one in the time I've been here. I've had much more than a phone call so I'm really happy for you guys and that's all that matters."
I'm A Celebrity... Get Me Out Of Here! returns to UTV on Saturday from 9.45pm.