Redknapp took over at Loftus Road in November 2012 and helped the club back into the Premier League but leaves the club second bottom of the top flight.
The 67-year-old will undergo knee replacement surgery in the coming weeks with Les Ferdinand and Chris Ramsey placed in temporary charge of the team until further notice.
Redknapp said in a QPR statement: "I have had such a fantastic time at QPR. I would like to thank the board, the players and all my staff, and especially the supporters who have been absolutely fantastic to me since I arrived at the club for their tremendous support.
"Sadly I need immediate surgery on my knee which is going to stop me from doing my job in the coming weeks. It means I won't be able to be out on the training pitch every day, and if I can't give 100 per-cent I feel it’s better for someone else to take over the reins.
"My relationship with [chairman] Tony Fernandes has been one of the highlights of my footballing career and I wish the club every success. I am confident they will survive in the Premier League this year.”"
Chairman Fernandes added: "I would like to take this opportunity to thank Harry for everything he has done for QPR during his time in charge.
"We part on good terms and I would personally like to wish him all the best for the future."
