The 42-year-old presenter and comedian, faced the final jump after losing his earlier race, but announced that the training for the show had been intense.
On completing his jump, Mark told Davina: "The training for this has been worse than Brexit!"
One viewer tweeted: "'The training for this has been worse than Brexit'. Comedy there. Yeah, real comedy. Totes. That's why he's a comedian. #TheJump."
"Lol at that b***end. It's called #TheJump not the fall of the end. Brexit w**ker," posted another.
The Jump 2017: Mark Dolan SLAMMED by viewers for 's**t' Brexit joke
The training for this has been worse than Brexit!
A third said: "#TheJump 'Training for this has been worse than Brexit' Sick to death of hearing these s**tty digs! Comedian apparently @mrmarkdolan."
"What they going to do on the Jump post Brexit – they don't half make use of the European health insurance scheme," noted a fourth.
It comes as Josie Gibson refused to take part in the "jump" part of the show due to nerves.
The Jump 2017: Mark Dolan SLAMMED by viewers for Brexit joke
The Jump 2017: Meet the contestants
Mon, January 30, 2017
The Jump kicks off with a brand new series next Sunday and now the first official images show how well this year's contestants are pulling off their bright lycra suits.
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The Jump 2017 contestants
The 32-year-old former Big Brother winner was seen preparing to take on the final jump after losing her race earlier in the show, but quickly backtracked off from the course.
Davina McCall was forced to interrupt proceedings as the delay was pushing the show to run over the 9pm finish.
Mark completed the shortest jump, but due to Josie's decision not to take part, Mark was allowed to stay in the competition, sending Josie home.