The 52-year-old actor and singer is currently appearing in a new series exploring the British coastline.
In tonight's opening episode, Robson travelled down to north Devon where he climbed a 400ft cliff and found a conga eel that had trapped inside a pipe for four years.
However, the moment that stood out for many viewers was when he had a wash in a waterfall in Ilfracombe.
In scenes reminiscent of Myleene Klass's jungle wash during her stint on I'm A Celebrity… Get Me Out Of Here!, Robson stripped down to next to nothing for the dip.
Robson Green stripped down to his boxer short on Tales from the Coast
Robson recreated Myleene Klass' famous jungle shower scene
Who needs the jungle?
The Grantchester star was heard saying: "Up early for a beach run and outdoor shower – who needs the jungle?"
Those watching at home took to Twitter to discuss the shower scene.
"Nude bathing, cue Robson and his pert bum. #TalesFromTheCoast #RobsonGreen," one person observed.
Another quipped: "@ITV stumbled across Tales from the Coast with Robson Green accidentally. Great little programme and the host is quite easy on the eye too ;)."
Next week's show will see Robson reunited with his Soldier Soldier co-star Jerome Flynn
Mon, January 23, 2017
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Someone else said: "Aah, Robson Green on @ITV #talesfromthecoast Robson, beach………..How long till he's got his kit off! #skinnydipping #cheeky."
While a fourth simply said: "We all love a bit of Robson Green,"
Next week Robson will be reunited with his Soldier Soldier co-star Jerome Flynn as he travels around the Pembrokeshire coast.
Tales From The Coast continues next Tuesday at 8pm on ITV.