In a challenge called Castle Kitchen Nightmares, the Good Morning Britain presenter will be heading down a chute and underneath the castle, to land in a pile of rotten fruit and vegetables.
As he starts crawling and making his way along the course, host Declan Donnelly explained how "there are a couple of stars in each section," which Richard will have to find.
While Richard manages to avoid one load of mushy produce hitting him from above, as he tries to cross he gets hit by a second load which also splashes onto the cameras.
"It's freezing he says" as more liquid hits his back. And as Dec announces that he already used up three of his 10 minutes, Ant McPartlin does not seem to be enjoying the scene.
In the preview clip above, we can also see how the presenter starts to dig with his bare hands through the rotting mass, and declares how "this is really really hard".
"There is no way of sorting the wheat from the..." he says as he seems to have found something.
"But it was only a tangerine", laughed Ant and Dec. Maybe Madeley's time in the Castle clink made him hungrier than he realised.
To find out if Richard makes it through the course in one piece, tune in to ITV at 9pm tonight.
Meanwhile, in last night episode, both Naughty Boy and Arlene Phillips revealed it might be their time to leave the show, even though they are only a few days into the competition.
The 36-year-old music producer - whose real name is Shahid Khan - faced radio DJ Snoochie Shy in the Treacherous Traps Bushtucker Trial, after being picked by the contestants from the Main Camp.
After losing the trial Naughty Boy told his fellow campmates in The Clink: "I do think my time here is done. I'm sorry.”
He then added: “I don’t think after knowing what the Main Camp probably knew what they were putting me through knowing I did the challenge earlier – I don’t know if I could ever join that camp.”
And 78-year-old former Strictly Come Dancing judge Arlene then revealed she had also had enough and was ready to throw in the towel, saying: "I feel the same."
Watch: Who is Richard Madeley?