In a post on Instagram, he wrote: "With the strength and support of my wife and my daughters, I have been coming to terms with the fact that I am gay."
Within minutes of making of the statement he appeared on ITV's This Morning on Friday, and was interviewed by his co-host Holly Willoughby.
"With every person that I tell," he said, the burden "became a little lighter".
He said he had never had any secrets from his wife, Stephanie Lowe.
"This is tough. We have gone through this together. We have been very open and very honest. I cannot write in any statement how I feel about that woman. She is amazing. She is literally astonishing."
He said he had not had his hand forced in coming out: "This is my decision," he said.
Schofield said he was "very conscious of the hurt" he had caused his family.
"I do feel guilty... But I am proud of myself today."
In his statement on Instagram, Schofield wrote: "You never know what's going on in someone's seemingly perfect life, what issues they are struggling with, or the state of their well-being - and so you won't know what has been consuming me for the last few years.
"With the strength and support of my wife and my daughters, I have been coming to terms with the fact that I am gay.
"This is something that has caused many heart-breaking conversations at home. I have been married to Steph for nearly 27 years, and we have two beautiful grown-up daughters, Molly and Ruby. My family have held me so close: they have tried to cheer me up, to smother me with kindness and love, despite their own confusion, Yet still I can't sleep and there have been some very dark moments."