EastEnders exit 'frightens' Brooks
Charlie, who plays Janine Butcher, said she will miss the rest of the cast, who have been like a "family" to her.
She told Hello! Magazine: "Kiki cried her eyes out when I told her I was leaving. She has been on set a lot over the years."
The actress, who has filmed her final scenes as the manipulative Janine, said she was looking forward to spending more time with her daughter.
She said: "I was so lucky in landing a role like Janine when I was only 17.
"I grew up there and the thought of not being there does sometimes frighten me.
"I have days where I am hugely insecure and question my ability to hack it elsewhere but, ultimately, the excitement of the challenge overrules those feelings.
"It is a brave decision for me though. I will miss the financial security. But I can't wait to do all those regular mummy things with Kiki, like picking her up from school and baking cakes.
"Between the long hours and an hour-and-a-half travelling time either side of my working day, I have missed out on those things."
Charlie, who won last year's I'm A Celebrity...Get Me Out Of Here, said she empathised with Rebecca Adlington's worries about her body image which have come to the surface in the camp.
She said: "It says a lot really, doesn't it, that an Olympian double gold medallist can feel insecure about her figure?
"There are a lot of women out there who will recognise what she is feeling."