The 55-year-old had been in charge for almost five years and led Germany to the 2022 European Championship final, where they lost to England.
The German FA said a "detailed analysis" of Germany's "disappointing performance" in Australia and New Zealand this summer meant the team "needed a fresh start in terms of sporting leadership". "On behalf of the DFB and also personally, I would like to thank Martina Voss-Tecklenburg for the co-operation over the past few years," said German FA president Bernd Neuendorf.