Another presenter, Vanessa Feltz, rubbished Daley. She deemed tickling innocent fun that shouldn't be seen as anything more than that.
Fans of the show took to social media and the majority sided with Feltz, saying Daley's views "had gone a step too far".
Daley began the debate saying: "On the face of it, what is wrong with a tickle? I have definitely been guilty of it - before I knew better.
"But when you start learning about body autonomy and consent for our children, then we realise that we should be modelling this behaviour from birth."
Feltz disagreed: "It's the ultimate in innocent care, love, and fun physical contact with a child that you love."
Many agreed with the host. One commented: "To be fair Vanessa Feltz does talk sense! Totally agree with her re tickling within families! That woman who wants permission/make it illegal is bonkers!"
Daley argued it all comes down to asking for permission before touching children.
"It's checking in with them and making sure that they are happy with us changing their nappies or washing them in the bath - they are not pets or accessories."
She added: "I've asked my children if they like tickling and they've said yes, but I also asked them 'would you like it if one of mummy's friends did it?' and they said 'no, I wouldn't like' it. I had to tell them that they are allowed to say no. We need to think about the wider issue of consent."
Feltz disagreed saying: "You wouldn't tickle a child that doesn't trust you - of course, I don't advocate that.
"But it's innocent - I have two grandchildren and they beg me to tickle them. Do they beg me to carry on? Yes. Am I invading their space? Of course not."
What do you think?