Elsewhere, former publicists James Holt and Miranda Barbot have been promoted into non-PR roles.
That has left their team made up of Liam Maguire, director of communications in Europe, and Meredith Maines, their chief communications officer.
The pair are believed to have met Tobyn Andreae, the King’s press secretary, in talks said to have been instrumental in Prince Harry meeting his father for the first time in over a year last month.
Robinson had been in charge of global publicity for The Crown from seasons three to six.
During this time the popular show aired controversial storylines including scenes depicting the ghost of Diana speaking to Queen Elizabeth II.
Of her departure, a friend told the Mail: “It was her decision. She left a few weeks ago. She’s not a quitter, so things must have been pretty horrible for her to go.”
It is not the first time the Sussexes have been hit with negative accusations in the workplace.
A cover story in February’s Vanity Fair said of working for the Duchess: “The person who worked in media projects read stories in the tabloids about Meghan ‘bullying’ palace aides and couldn’t imagine such behaviour actually happening. After working with her though, this person realised, ‘oh, any given Tuesday this happened’.”
Meghan has always denied claims of bullying.
A spokesman for the Sussexes told the Telegraph: “Ms Robinson oversaw project-based work for a very successful season of With Love, Meghan and additional support for the production company. She did an excellent job and completed these projects with great success.”
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