"I can't believe it, I had no idea!" gasped the soap star.
After 22 days in the outback, the actress was finally reunited with her much-loved daughter Kiki.
Earlier the two finalists had joined forces to take part in a final Bushtucker Trial - in the hope of winning a feast to enjoy on their last night in the Australian camp.
But in order to get their Mexican fiesta, Ashley and Charlie would first have to down 'treats' including camel penis, fish eyes, pig brain and a live witchetty grub.
They'd earlier expressed shock at having reached the final at all and put it down to girl power - something they were definitely going to need.
"This is the worst possible one for me," Charlie said of the trial.
"I gag at the sight of mould. I gag if something smells bad ... I'm really scared because when I watch this programme and see them do it, I heave."
Ashley added: "We've got to do our best. We've got to support one another, and chew as fast as we can, swallow it, get it out and then we're going to have a fantastic feast."
The girls were faced with a total of eight dishes - four each, including a starter, main course, pudding and drink. For each disgusting course they finished, they would get a delicious one back at camp.
Ashley ended up successfully downing camel penis, a raw fish eye, two live cockroaches, and a blended 100-year-old duck egg.
Charlie managed to swallow a live witchetty grub, pig brain, two turkey testicles and a blended cocktail of cockroaches, crickets and mealworms.
"You're not a very nice person," she told host Ant McPartlin when he innocently confirmed exactly what was in her final course, having gagged her way through the trial.
No matter who wins, we're both the Queens of the Jungle after that.
"That was the most disgusting thing I've ever done in my life," Ashley said.
"You go against every instinct in your body. The textures ... That eyeball - I went through a hard texture and then the popping of the eyeball ... It smelled."
But having completed the trial, the girls later enjoyed a feast of nachos, battered prawns, fajitas, burritos, ice cream, apple crumble, beer and margaritas - all served up by a dashing jungle ranger.
And following the result of the public vote, Charlie was delighted to be crowned Queen and to be reunited with her family - including proud daughter Kiki.
"I never expected this, not in a million years. Everyone's been amazing and brilliant," she said, after laughing as she told Ant and Dec she felt "silly".
Ashley wasn't too disappointed to finish second, saying: "I have gone beyond what I ever expected to get through in this competition - I'm so proud of myself."
It was the first all-female final in the show's history, with the two 31-year-olds making it to the last two at the expense of third-placed boxer David Haye and fourth-placed darts player Eric Bristow.