Dean Esserman has stepped down as the New Haven police chief as of last Friday, the city said.
The former police chief was on disciplinary leave starting July 25 and transitioned to temporary sick leave in mid-August.
New Haven officials said the resignation was a "mutual agreement" and became effective on Sept. 2.
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"Mayor Harp and Chief Esserman agree this decision follows a process in which the best interests of New Haven remained first and foremost," a spokesman for the city said.
In the statement released by the city, Esserman said it has been a "privilege" to work for the city and police department.
Assistant Chief Anthony Campbell will continue to sever as interim chief of police, the statement said.
At the end of July, Harp placed Esserman on paid leave of absence for behavior she called "unbecoming of a public official" after he allegedly berated a waitress at Archie Moore’s Restaurant.
However, this wasn't the first time Esserman had lashed out in public.
Two years ago, Esserman apologized for arguing with an usher and threatening to shut down a football game at the Yale Bowl.
Earlier this summer, Police Union Members voted 170-42 "no confidence" in Esserman, citing his public outbursts, plus low morale, intimidation and a hostile work environment.
In August, group of protestors marched from the Police Department to City Hall demanding the removal or resignation of Essesrman, at times chanting: "Hey, ho Esserman has got to go."