The former BBC political correspondent was criticised by the show's judges for his clumsy footwork, but was kept in the show by viewers' votes.
Sergeant returned to the dancefloor in the grand final when he performed with the other celebrities who were voted out during the 2008 series.
The five previous winners of Strictly Come Dancing - Natasha Kaplinsky, Jill Halfpenny, Darren Gough, Mark Ramprakash and Alesha Dixon - also appeared, with all but Kaplinsky performing a group routine to a version of Robbie Williams' Let Me Entertain You.
The show also featured a performance by singer Duffy.
Speaking before the final, Chambers - who was the bookies' favourite going into the final - said he wanted to win for Dallerup.
"It would mean granting Camilla her dream. She's been working for this for six years and she's been in the semi-final twice," he said.
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