World Bulletin / News Desk
The UKIP leader faced accusations of "inflammatory" scaremongering during exchanges with members of the public.
But he insisted there was wide support for "getting a grip" on migration, including from ethnic minority groups.
The PM said there were "good and bad ways" to control immigration but warned against a "Little England" stance.
Mr Farage and Mr Cameron did not debate head-to-head but appeared in turn on the ITV referendum special - hosted by Julie Etchingham - each facing half-an-hour of questions on the economy, immigration, security and sovereignty from the 200-strong audience.
Making the case for the UK to leave the EU, the UKIP leader argued the 28-member union was "done for" economically and that even if UK firms had tariffs imposed on them after leaving, this would cost less than the amount the UK was currently giving to Brussels.
"No deal is better than the rotten deal that we have at the moment," he said.Last Mod: 08 Haziran 2016, 15:28