"I've looked at the stadium before, even on non-match days, and thought it would be tough.
"We could have been anyone. Luckily, we are just base jumpers but I am hoping they increase security for the rest of the World Cup."
The daredevil duo wore fake security tops but donned England rugby jerseys for the jump.
"I made eye contact with the bloke but if you act confident and look like you belong there, people take less notice and he just walked away," Flynn said.
"The parachutes make quite a loud bang when they open in an empty stadium so we were waiting for security to come for us at any time.
"We thought we would take a few selfies on the pitch before they got us but they never came.
"We were expecting to be caught but we just walked out the same way we had gone in."
The Rugby Union, which owns Twickenham Stadium has launched an investigation with a spokesman saying: "It is very disappointing that these individuals chose to breach security at Twickenham at such an important time with a Rugby World Cup game taking place this weekend.
"While the security in the lead-up to and after a match day is extremely robust, we accept that this should not have happened midweek.
"The RFU is currently undertaking a full investigation to establish the facts to ensure that non-match day security arrangements are appropriate going forward."