"I have to go now because I'm going to Cambridge to get ready for the debate tonight because there is no hiding place," he told the rally.
"We'll put our views out there and let the public decide."
He added: “It’s very odd that you have an election campaign where we go out and talk to people all the time and the Prime Minister seems to have difficulty in meeting anyone or having any debates.
“There is a debate in Cambridge tonight, I invite her to go to Cambridge and to debate her policies, debate her record, debate their plans, debate their proposals and let the public make up their mind.”
Earlier today, he tweeted: "Come and debate me. Any time. Any place. Britain deserves to see the only two people who could be the next Prime Minister debate."
— Jeremy Corbyn (@jeremycorbyn) May 31, 2017
Will Theresa May take part in the TV debate?
Home Secretary Amber Rudd is expected to step in to represent the Conservatives Party at the debate.
I have to go now because I'm going to Cambridge to get ready for the debate tonight
Jeremy Corbyn, Labour leader
A Conservative Party spokesperson said “there are no changes to the Prime Ministers plans” in regards to the debate.
Theresa May could still go along to the debate, but she has always said that she will not take part in TV debates this election campaign.
In April she said: "We won't be doing television debates. I believe in campaigns where politicians actually get out and about and meet with voters.
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"That's what I have always believed in, it's what I still believe and I still do it – as Prime Minister, as a constituency MP, I still go out and knock on doors in my constituency.
"That's what I believe in doing, that's what I'm going to be doing around this campaign."
Following Mr Corbyn’s announcement, bookies made Theresa May’s odds of attending the debate tonight 3/1 and her odds of remaining absent are at 2/7.
Jessica Bridge of Ladbrokes said: "Corbyn's forcing May's hand like never before. She's dammed if she does take part and dammed if she doesn't, but we reckon she will stay away from the BBC Studio tonight."
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The BBC election debate will take place tonight on BBC One at 7.30pm.
BBC World News presenter Mishal Hussain will host the seven-way discussion live form Cambridge.
Tim Farron of the Liberal Democrats, SNP deputy leader Angus Robertson, Ukip’s Paul Nuttall, Plaid Cymru’s leader Leanne Wood and the Green’s Caroline Lucas be attending.
Home Secretary Amber Rudd was poised to step in to represent the Conservative before Mr Corbyn issued his challenge earlier today.
The debate comes after Mr Corbyn and Mrs May were grilled by a television audience and interview “bulldog” Jeremy Paxman on Monday night.