Amazon
His comments were made in front of a live studio audience in the "Happy Finnish Christmas" episode of the show, which first broadcast on Amazon Prime on December 23.
Co-host Jeremy Clarkson gestured towards a photo of the light-coloured interior of a Rolls Royce, joking that you would not be able to enjoy a Magnum ice cream inside.
Hammond responded: "It's all right, I don't eat ice cream. It's something to do with being straight."
Clarkson and the show's other co-host James May wrinkled their noses in apparent disgust as the audience laughed and clapped.
Clarkson, who also has a history of making controversial and insensitive comments, said: "Why are you applauding him? What do you mean? Are you saying everyone who likes ice cream ... you're saying all children are homosexual?"
Hammond retorted that "ice cream is a bit, you know," before adding: "There's nothing wrong with it, but a grown man eating an ice cream, you know, it's a bit, it's that way rather than that way, it is ..."
Clarkson cut him off by looking down the camera lens and declaring: "Welcome to the inside of Richard Hammond's head."
Hammond continued: "I'm right. I can't believe you can't see that. It's easy, it's in front of you."
Clarkson then appeared to try to revert the conversation back to the car: "You could enjoy a 99 in there," he said, referring to the ice cream cone.
May then cut in: "You mean a 69?"
Clarkson responded: "99. But you couldn't have the chocolate thingy," and gestured at the chocolate flake that is usually inserted atop a 99 ice cream.
"My case rests!" Hammond declared triumphantly.
The exchange was strongly criticised and parodied by Twitter users:
Richard Hammond's representatives and Amazon were not immediately available for comment.
Amazon is rumoured to have paid about $250 million for "The Grand Tour," which stars the trio of former "Top Gear" presenters. The company said the show's debut episode in November this year marked the biggest premiere ever on Amazon Prime Video, although it declined to share specific numbers.
Disclosure: Jeff Bezos is an investor in Business Insider through hispersonal investment company Bezos Expeditions.
🤗 hello & here's the full richard hammond 'ice creams are gay' piece and yeah, it's awful pic.twitter.com/JhDisRsc1Q
- Ollie Cole (@ProducerOllie) December 26, 2016
excuse me while i gag on my cornetto https://t.co/JqscM3xU8l
- olly alexander (@alexander_olly) December 27, 2016
.@RichardHammond HELLO I HAVE BEEN EATING ICE CREAM FOR YEARS AND I'M STILL HETEROSEXUAL WHAT I AM DOING WRONG PLEASE HELP
- TechnicallyRon (@TechnicallyRon) December 27, 2016
Off for a BIG GAY ice cream.
Want anything Richard Hammond?#Pride 🌈 pic.twitter.com/yFngIlTvzJ
- Pride in London (@LondonLGBTPride) December 27, 2016
Richard Hammond gags while explaining 'men who eat ice-cream are gay' on The Grand Tour, ep 6.
Are men that watch this show bigoted weasels? pic.twitter.com/G4W9ziqLch
- Hayden Scott-Baron (@docky) December 26, 2016
I wish George Michael was still alive so he could tell Richard Hammond to take his fragile masculinity and shove it up his arse.
- Chris Mandle (@chris_mandle) December 26, 2016