It brings the controversial host's time on the show to an end after six years.
ITV announced the decision after Ofcom said it was investigating his comments after receiving 41,000 complaints.
On Monday's show, Morgan said he "didn't believe a word" the duchess had told Oprah Winfrey about her mental health in an interview.
An ITV spokesperson said: "Following discussions with ITV, Piers Morgan has decided now is the time to leave Good Morning Britain. ITV has accepted this decision and has nothing further to add."
The channel confirmed his departure from the breakfast news show will take effect immediately but declined to say who would be replacing him on Wednesday [today].
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