The former Scotland assistant recently confirmed he would not be renewing his contract when it ended in the summer.
However, a brief statement released by the Tannadice club said: "Peter, who recently confirmed he would not be renewing his contract at the club, led Dundee United to Scottish Cup success in 2010 and helped the squad qualify for European football on three consecutive occasions. He leaves with the thanks of everyone at the club and best wishes for the future."
- Sports & Recreation
- Dundee United