Tomato Plant Problem!

Hubby and I were looking at our tiny garden this afternoon, when looking at our tomato plant a leaf had what I thought was little white eggs on it. So, I picked the leaf off as I did the other day with a smaller one. We discovered that it wasn't eggs we were seeing it was some sort of green Caterpillar in disguise.
It had stripped the tomato plant top of its leaves to the stem! If anyone knows what it is tell me please. Here are a few photos.