The former Bond girl and her partner Anton Du Beke found themselves in the bottom two alongside Mark Benton and his professional partner Iveta Lukosiute, after performing an American Smooth on Saturday night's show.
Fiona - who, like Mark, scored 29 points out of 40 - was voted off by judges Darcey Bussell, Bruno Tonioli and Len Goodman, with only Craig Revel Horwood choosing to save her.
Len said: "The thing is in the dance-off, you've really got to up your game or nerves stifle your performance.
"One couple I felt really did up their game. The other I think nerves got them and there was a lot of mistakes going on, and for that reason I'm going to save Mark."
Following the result, the 'View To A Kill' star said taking part in the ballroom series was like "being a guest at the best party in the world".
She said: "I can't thank you enough, or the producers at the BBC, for asking me to take part in this show.
"It's been fantastic, thank you. Anton has been unbelievably patient I can't tell you. I honestly have a memory like a colander. He's been utterly brilliant."
Anton told her: "From my perspective this whole fabulous show is made fun because of the people we get to dance with, and you are just a joy. Every day I come in I get to dance with you. You are really lovely."
On Saturday's show - which came from the Blackpool Tower ballroom - former 'Coronation Street' star Natalie Gumede returned to the top of the leaderboard, along with 'BBC Breakfast' host, Susanna Reid, who both scored 39 out of 40 for their routines.