The Britain's Got Talent judge went to see her parents after she got a 'distressing phone call' from her stepfather .
The 49-year-old took a black Mercedes from Richmond to Bude to see the 75-year-old and her 71-year-old mother Judith on Friday.
Locals were up in arms at her arrival, said she was putting residents of the small town at risk and reported her to the police.
She was spotted by a neighbour – thought to be a police officer – who is understood to have reported her for breaching Covid travel restrictions.
It is understood the star stayed overnight on Friday before making the return journey to her house in south west London yesterday.
The Britain's Got Talent judge (pictured yesterday) went to see her parents after she got a 'distressing phone call' from her father Leslie
The 49-year-old took a black Mercedes from Richmond to Bude to see the 75-year-old and her 71-year-old mother Judith (pictured) on Friday
She was spotted by a neighbour – thought to be a police officer – who is understood to have reported her for breaching Covid travel restrictions. Pictured: Bude
One told the Sun: 'I was really shocked when I saw it and then felt quite angry. A man unloaded quite a lot of luggage from the boot and then the car sped off.
'There are a lot of key workers and vulnerable people around here, and we need to keep them safe.'
They added: 'They also know she had travelled miles from Surrey to get down here and she dashed into the house. She must have known what she was doing was wrong.'
Ms Holden is a well-known figure in the area after visiting her parents before the pandemic but residents were still furious.
The 49-year-old took a black Mercedes from Richmond to Bude to see the 75-year-old and her 71-year-old mother Judith on Friday. Pictured: Yesterday
Friends of Ms Holden say that although she knew she should not have made the journey, she was so concerned about her parents' welfare that she felt she had no option.
One said: 'Amanda got a call on Friday afternoon and felt she had no other choice but to get down there as quickly as she could.
'Because of the issues involved with their health, she knew she had to go – there was no way she couldn't.
'She knows she has done something wrong and she is regretful but until you are in that moment, how can you judge?
'In order to ensure she posed as little risk as possible, she drove alone, leaving her husband and daughters at home.
'She did not come into contact with anyone else.'
It is understood Ms Holden, a judge on ITV's Britain's Got Talent, arrived after dark.
Her spokesman said she was aware of the rules but said she was 'devastated she had to break them'.
He said: 'Amanda is aware that all families are going through difficulty during these turbulent times but received a distressing telephone call from her elderly father on Friday afternoon.
'On balance Amanda felt the round trip to Cornwall necessary to contain the matter at her family home. The very personal situation has now been aided and Amanda is back in London.'
He added her parents - who she has reportedly not seen for a year - have been vaccinated and she has been tested for coronavirus weekly.
Devon and Cornwall Police refused to comment.
It comes as Ms Holden approaches her 50th birthday on Tuesday and said she felt 'so grateful and overwhelmed at the thought and love' her Heart Radio colleagues put into her celebrations.
She was surprised with 50 presents by her radio colleagues to mark the occasion.
They included a massage chair, flowers, prosecco, a margarita cocktail, a roast dinner and a cake.
Ms Holden approaches her 50th birthday on Tuesday and said she felt 'so grateful and overwhelmed at the thought and love' her Heart Radio colleagues put into her celebrations
Her co-host Jamie Theakston told listeners: 'Our very own Amanda Holden is celebrating her birthday - as a gentleman I wouldn't say how old - but what we thought we would do is pull together 50 of her favourite things.'
An advertising board outside the radio studio also displayed a birthday message to Holden.
She wrote on Instagram: 'So grateful and overwhelmed at the thought and love they've put into it.'
Holden shared the message alongside a photo of her drinking prosecco, which she said was taken at 6.30am.
A number of her friends also sent her birthday messages.
Her fellow Britain's Got Talent judge Alesha Dixon said: 'Happy 50th birthday to my amazing TV wife.
'I love you very, very much and I'm absolutely gutted that we cannot celebrate today and celebrate with you, as you deserve to be celebrated, on this incredibly momentous occasion.
'Your 50th birthday! You still look 25, woman!'
Good Morning Britain host Piers Morgan called in to the show to wish Holden a happy birthday.
'I've actually got out of bed on my day off just to pay homage to the queen, Amanda Holden,' he said.
'You know what, I just think, seeing pictures of you drinking prosecco at 6.30am in the morning, it brings back such fond memories of working with you on Britain's Got Talent.'