The 30-year-old centre back, who joined PSG's academy in 2005, made 241 appearances, scored three goals and was captain 31 times. He helped PSG win eight Ligue 1 titles, seven French Cups, six French Super Cups and the 2025 Champions League.
In February, Kimpembe returned after nearly two years out with an Achilles injury, playing five games in all competitions.
"Since the age of eight, Presnel has grown and developed at every level within his beloved club, where he has always been an ambassador and model of professionalism," PSG President Nasser Al-Khelaifi said in a statement.
"He is a fantastic example for the young players at our Youth Academy and will always be part of the Paris Saint-Germain family. We wish him every success for the future and his next adventure."
Capped 28 times, Kimpembe was part of the France squad that won the 2018 World Cup as well as the Nations League in 2021.