The former Emmerdale star was labelled “filth” after taking to the dance floor to perform a rumba with his dance partner Oti Mabuse.
Craig Revel Horwood told the 35-year-old soap star: “You’re obviously in touch with yourself! It was full of machismo. It oozed masculinity. It was filth!”
Fellow judge Motsi Mabuse was equally impressed following the dance with her sister.
“I’m just like, ‘Hold on Kelvin. That’s my sister. Stop it’,” she said.
Head judge Shirley Ballas described Fletcher as “a very masculine man”, adding: “You just sent my temperature through the roof! I’ve never seen a man rumba like that.”
Bruno Tonioli called the actor’s hips “weapons of devastating effect” and it was reflected in his score of 36 points.
Meanwhile, David James stunned judges with his improvement, having survived two dance-offs on the BBC One show.
After the former England footballer and dance partner Nadiya Bychkova performed a quickstep, Bruno quipped: “Did you change your diet? Extra vitamins? That was a miraculous transformation… I’m gobsmacked.”
Elsewhere, Michelle Visage accidentally bumped heads with her dance partner Giovanni Pernice during their salsa.
She told co-host Claudia Winkleman afterwards: “It was on the last spin. I banged heads with him. It was my fault obviously.”
BBC Breakfast host Mike Bushell and Katya Jones returned to the dance floor for a victorious quickstep, after Katya fell during their routine last week.
The pair came back with a bang, with 32 points from the judges, leaving Katya in tears.
“Is this a dream? Is this real?” Mike said following the positive judges’ comments.
Karim Zeroual and dance partner Amy Dowden closed the show with the tango and got three judges on their feet.
The night also saw EastEnders actress Emma Barton perform a Viennese waltz, Radio 1 DJ Dev Griffin dance a cha cha cha and Catherine Tyldesley channel her inner Beyonce with the Charleston to Single Ladies.
Anneka Rice and Kevin Clifton left the BBC One show last week.