In an interview with the Daily Mail, Grylls said that he prays on his knees with his three sons at bedtime, with his wife and before meals.
Grylls told the newspaper: "It's a sign of humility. Something I aspire to in today's world."
Describing his faith, Grylls said: "My faith wavers every day. I get nervous talking about it. It's personal, it's a journey; but it's the glue to my life."
Grylls also revealed his daily prayer for his wife, Shara, who has previously released a book titled 'Marriage Matters', documenting the advice given to the pair shortly before their nuptials.
"It's quick and fast," Grylls said, "'Good night, sleep well, may God bless you. I love you, you are the best."
The Man vs Wild presenter and Chief Scout has been open about his Christian values throughout his career.
He has appeared in a number of Alpha Course promotional videos.
In a 2015 interview with the Radio Times, Grylls said: ""I really, desperately have learnt in my life that I need my faith, and I'm just not strong enough on my own.
"I probably don't go to church enough, but my faith is a quiet, strong backbone in my life."
For help developing the faith of your children visit www.premierchildrenswork.com/Faith-at-home