Zinedine Zidane, 45, is the first coach to lead his team to three consecutive titles.
Zinedine Zidane has announced his resignation from Real Madrid, five days after he led the club to the Champions League.
Zidane said Real Madrid needed a "different voice".
"Everything is changing," Zidane told a news conference. "That's why I made this decision."
Zidane has led Real Madrid to the Champions League three times in a row and the Spanish Premier League once since taking charge in January 2016.
"I love this club," he said.
"What I think is that this club needs to win consistently, but I think it needs a change, a different voice and a different way of working, and that's why I made that decision."
Zidane, 45, led Real Madrid as Spain's successor to Rafael Benitez and led the team in 149 games, winning 104 games, up 69.8 percent.
Zidane said in February that he would leave the team if he felt "he has nothing new to offer."
However, Zidane's decision to resign came at a staggering time for club fans, days after winning the Champions League at Liverpool's expense.
The new coach:
Real now have to look for the fourth coach in five years.
Previous reports have linked Tottenham Hotspur coach Mauricio Pociteno to Real Madrid, but signed a new contract with Tottenham for five years last week.
Juventus coach Massimiliano Alegre, former Arsenal manager Arsene Wenger and Napoli's current manager Mauricio Sari are also on the list.
Zidane announced his departure from Real Madrid at a press conference attended by club president Florentino Perez, who said: "This decision was not expected at all.
"It's a sad day for me, for the players and for everyone in this club, he knows I was the most wanted person to hire him when he was a player and as a coach."
"I wish I could continue in my team forever."
Zidane's decision to leave followed the announcement of stars Gareth Bell and Cristiano Ronaldo for thinking of leaving the club.
Bell was not happy to be on the bench in the Champions League final against Liverpool, while Ronaldo said last week he would announce details of his future soon.
When Zidane was asked whether the decision to leave was related to Ronaldo's fate, he replied: "No."