Under Mauresmo's tutelage, Briton Murray won his first clay-court titles and reached the final of the Australian Open in 2015 and 2016.
"Working with Andy over the last two years has been a fantastic experience for me," said Mauresmo in a joint statement with Murray on her Facebook page.
"I've thoroughly enjoyed being part of the great team of people he has around him. Dedicating enough time along with the travel has been a challenge for me. I wish him and team well and I hope he goes on to win many more titles."
Mauresmo, who is a former world number one and also a two-time Grand Slam champion, took over as Murray's coach in June 2014, after the player and Czech Ivan Lendl decided to part ways.
She took some time off last summer whilst pregnant with her son, with Swede Jonas Bjorkman filling in in her absence.
"I've learned a lot from Amelie over the last two years, both on and off the court," said Murray.
"She's been a calming influence in the team and we will all miss having her around.
"I'll take some time to consider the next steps and how we progress from here, but I'd like to thank her for everything she has done, she's been an invaluable member of the team."
The biggest improvement in Murray's game under Mauresmo has come on clay.
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