Dortmund who finished second eight points behind champions Bayern Munich in Bundesliga season 2021-22 showed Rose the door at the Signal Iduna Park.
They didn't progress past the Champions League group, finishing third behind Ajax Amsterdam and Sporting, and dropped into the Europa League knockout stages before being eliminated by Scottish side and runnerup Rangers.
The club also suffered a shock exit from the German Cup at the hands of second-tier St Pauli in January, while they were beaten by Bayern in the German Super Cup final in August last year.
"This day is not an easy one for all of us, because the mutual respect among us was, is and remains great," club CEO Hans-Joachim Watzke said.
"After a season that was unsatisfactory for various reasons, we had to realise that we didn't get the most out of our opportunities in many areas."
Rose joined Dortmund from Borussia Moenchengladbach in 2021.
"Despite a difficult season ... I was convinced of our path," Rose said.
"During our conversation, the impression matured in me that 100% conviction of all those responsible was no longer present. In the end, we decided together to end the cooperation."
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