Kaiser Chiefs frontman has admitted he from and wants to return.
The 44-year-old, who had judged the singing competition from 2013, quit the show in 2016 when it moved from BBC to ITV.
Ricky had once claimed he made to star on The Voice, , thinking they ‘would want to have a totally new show’.
But now he’s said he ‘should have stuck around’ in those revolving chairs.
Speaking to , he said: ‘I don’t find The Voice as exciting any more now I am not on it.
‘I just feel like I should be there.’
Having starred as a judge for three years and won twice, Ricky revealed he felt as though it was time for him to bow out before people ‘started criticising’ him.
‘I thought I’ll get out before anyone says anything bad or notices my tricks,’ he said.
He added that he presumed the show would face a ‘rebrand’ after moving to ITV, revealing: ‘I actually thought maybe they’re going to get rid of me.’
However, he ‘should have stuck around’ and really ‘did enjoy it’.
Ricky even admitted that if The Voice bosses were to have asked him to return, he ‘would be there’.
Ricky won the series with Stevie McCrorie in 2015 and with Kevin Simm the following year.
The original judging panel when The Voice premiered in 2012 included will.i.am, Jessie J, Sir Tom Jones and Danny O’Donoghue, before Ricky joined in the third series with Kylie Minogue, replacing Jessie J and Danny.
Since then, along with Ricky, other judges from previous series have included Paloma Faith and Rita Ora.
As The Voice returns this year for its 11th series, the panel still has Sir Tom Jones and will.i.am, joined by Anne-Marie and Olly Murs.
The Voice returns to ITV later this year.
