It is not the first time the actress has expressed her views on the Prime Minister.
However, the broadcast regulator decided against a formal investigation due to the audience's "likely expectations of Miriam Margolyes, a comic actor known for her forthright views, and of this live, late-night satirical comedy show".
On Thursday Ms Margolyes used her TV appearance to hit out the Prime Minister, Donald Trump, and anti-vaxxers.
She told co-host Susanna Reid: “Of course one must have the vaccine. Those anti-vaxxers are nuts. They need their heads seen to.”
She added that she was hoping to get the vaccine "as soon as possible".
“I’m hoping that I get a vaccine as soon as possible", she said.
Ms Margolyes, who is currently living in Italy, said she would not return to England until it was "safe", before describing Boris Johnson as a "clown".
"I’ll be 80 in May and I may be able to have it in Italy before I come (back), but I’m not coming to England until it’s safe to go."
"You’ve got that clown in charge there that I didn’t vote for, and I’m holding him responsible," she said.
US President Donald Trump also came in for a bashing from the actress.
She said: "I know it's morning television and I have to be careful about what I say about that man, let's say that it ends with hole and starts with a."
Mr Trump has become the first US President to be impeached twice after his supporters stormed Capitol Hill.