The 47-year-old appeared alongside John, who played Captain Jack Harkness, in the hit series during his stint as the Doctor and decided to record a video of support for him as he nears the final of the show.
He told his fans: “The John Barrowman I know is a delicate flower and I don’t want to see that delicate flower struggling to survive under a dense jungle canopy.
“So ladies and gentleman we all need to help him and vote for John to stay in the jungle. Vote for John to win.”
He continued: “Let’s make him King of the Jungle, lets make him win Strictly Come Dancing, lets make him win the Great British Bake Off, lets elect him Prime Minister. Go Johnny, go, go, go. We love you.
"Bring it home chewing a kangaroo testicle. Come On John you can do it!”
John’s team shared the video and excitedly wrote: “DOCCCTTOORRRR!!!! #DavidTennant has traveled back on the #TARDIS to send an important message to #teambarrowman from #teamtardis…
“KEEP HIM IN AND VOTE VOTE VOTE #imaceleb #bakeoff #primeminister @ITV @imacelebrity.”
John, 51, played swash-buckling, omnisexual character as a recurring guest in Doctor Who from 2005-2010.
Time-travelling heartthrob Captain Jack was so popular he was given his own show, Torchwood, which ran from 2006-2011.
David appeared as the Time Lord from 2005–2010 and then again in 2013.
Predict Sunday's winner and be in with a chance to win daily Amazon vouchers and a holiday worth £5K
John is competing to be King Of The Jungle when the winner is announced on Sunday evening.
He is up against Emily Atack, Harry Redknapp, Fleur East and James McVey.
His time on the jungle nearly came to an end when he suffered a sprained ankle and had to be rushed to hospital.
The star had fallen as he went to wash a pot and was taken to hospital for an X-ray.
"I feel like Hopalong Cassidy," he joked as he returned to camp.
"I went to the hospital, they X-rayed it, it's a bad sprain, but the whole side of my left ankle is swollen.
"There are things I can't do, I can't go down stairs but they've told me to walk on it as much as I can because the more I can walk on it the better it will get."
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