Charo participated in Season 24 of Dancing with the Stars, which premiered in March 2017. She was paired with professional dancer Keo Motsepe, and their performances were characterized by Charo's signature flamboyance and humor. Their first dance, a cha-cha to "Havana" by Camila Cabello, showcased Charo's energetic style, earning them a score of 21 out of 40. Subsequent performances, including a bridal-themed foxtrot to "Chapel of Love" by The Dixie Cups, received mixed reviews from the judges. Despite her enthusiasm and commitment, Charo was eliminated in the second week of competition, finishing in 11th place overall

Throughout her time on the show, Charo expressed both frustration and gratitude. After her elimination, she told E! News, "I feel like I've got a million dollars right now in my wallet," emphasizing her positive experience despite the early exit. However, earlier in the competition, she threatened to quit due to what she perceived as unfair scoring, particularly after receiving a 21 and a 25 out of 40 in the first two weeks. She was upset over the elimination of fellow contestant Chris Kattan, stating, "I was very upset that they kicked out Chris. I was about to make a deal. I go, and he stays."

Charo's time on the show highlighted her willingness to embrace new challenges and her enduring presence in the entertainment industry.