Earle, who is an ambassador for England’s 2018 World Cup bid, said: “Call me naive but I didn’t think I was doing anything wrong.
“I hope when people hear the full story they will see me in a different light.”
The broadcaster had earlier said it had reviewed its entire ticket allocation after complaints from Fifa that official tickets had been used for ambush marketing in South Africa.
Earle denied profiting from the bulk ticket transfer of his World Cup ticket allocation.
“I have absolutely no connection with any marketing ambush agency and have not profited in any way from these tickets,” he said.
In a statement, ITV said: “Immediate investigations indicated that a block of ITV tickets appear to have been used for unauthorised purposes during the Holland v Denmark match.
“Further enquiries have revealed a substantial number of tickets allocated to Robbie Earle for family and friends have been passed to a third party in breach of Fifa rules.
“As a result, Robbie Earle’s contract with ITV has been terminated with immediate effect.”
It is the second major World Cup embarrassment for ITV in just three days.