The 32-year-old has racked up 373 appearances since joining Liverpool from Hull in the summer of 2017, and will leave as "a genuine Liverpool legend", as per a statement on the club's website annoucing his departure.
The Scotland captain has won two Premier League titles, the Champions League, the FA Cup and two League Cups, among other trophies in his nine-year stay at Anfield.
"It’s never easy leaving a club like Liverpool, it has been a huge part of mine and my family’s life for the last nine years," Robertson said.
"But for me, players move on, other people move on – the thing that stays the same is the club and obviously the fans. I’ve had an amazing nine years here.
"I know football moves on, I know teams move on and I think now is the time for me to move on and go wherever my next move is and wherever my career takes me.
I’ll always look back on amazing memories at this football club, I’ve put my heart and soul into the club for nine years and I’ve not got many regrets.
"I’ve grown as a man and as a person. This club will always mean the world to me, the fans will mean the world to me. It has been a hell of a journey."
Robertson, who has struggled for game time this season following the arrival of Hungary's Milos Kerkez, makes his announcement on the back of the news that fellow club icon Mo Salah will also be leaving at the end of the current campaign.
"This club means everything to me. The fans mean everything to me. The people connected to the club mean everything to me," Robertson continued.
"I owe it to them still that until my very last day I’ll give everything to this football club, which I’ve done over the last nine years and I’m very proud of that.
"That’s not going to change and I think that’s why now is not the time for big emotions or me crying down a camera or anything like that.
"I’m still fully focused on trying to end this season as positively as possible, to help these lads and to try to give a few more good moments to the fans.
"That’s my aim and hopefully then we can do it and maybe closer to the end of the season you’ll have me down a camera crying my eyes out."