The 48-year-old is just one of a number of coaches to depart the Gunners, as new boss Unai Emery shakes up his backroom staff.
In a Twitter statement, Lehmann said: "Dear Arsenal Fans , I am sorry to leave the club after only one year again.
"It was a good experience working with the players as one of the assistant-coaches.
"But the attitude from our 2004-group is not needed there anymore."
SunSport exclusively revealed last month that Lehmann could be axed by the North London club, along with assistant manager Steve Bould.
However Bould – a winner of three top-flight titles with Arsenal – has managed to keep hold of his role at the club.
While Head of Medical services Colin Lewis, and first team coaches Neil Banfield, Tony Colbert, Gerry Peyton and Boro Primorac have all left.
Arsenal Chief Executive Ivan Gazidis said of the departures: "All these people have played a huge part in the club’s success and development over many years.
"We thank them for all their hard work and wish them all the best for the future.”
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Lehmann – who featured in all 38 Premier League games during the 2003/04 unbeaten season – believes his past team-mates aren't needed at the club.
This is despite Arsenal appointing fan favourite Freddie Ljungberg as the new Under-23 head coach.
It is set to be a busy summer for the Europa League semi-finalists, who are believed to be closing in on two major signings.
As well as bringing Stephan Lichtsteiner to North London, Arsenal are also keen on landing Sampdoria midfielder Lucas Torreira and Bayer Leverkusen goalkeeper Bernd Leno.
While Petr Cech is a reported loan target for Serie A giants Napoli.
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