Meghan Markle complained to ITV about Piers Morgan hours before the controversial broadcaster quit its Good Morning Britain show.
The Duchess of Sussex took issue with the co-host's implication she lied about feeling suicidal after joining the royal family.
According to multiple reports, Markle raised concerns with ITV CEO Carolyn McCall over how Morgan's comments might affect people struggling with mental health problems.
The Duchess of Sussex revealed she developed suicidal urges after joining the royal family in a lengthy tell-all interview with Oprah Winfrey. She also accused a royal family member of raising concerns with Prince Harry about how dark baby Archie's skin would be before he was born.
After the interview, Morgan hit out at Markle saying he didn't believe a word she said.
"I'm sorry, I don't believe a word she says, Meghan Markle. I wouldn't believe her if she read me a weather report.
"The fact that she's fired up this onslaught against our royal family, I think is contemptible."
His comments drew widespread condemnation with the UK's Office of Communication receiving more than 41,000 complaints from the public.
Days later ITV announced Morgan's departure from Good Morning Britain.
"Following discussions with ITV, Piers Morgan has decided now is the time to leave Good Morning Britain," the television network said in a statement on Tuesday (local time).
"ITV has accepted this decision and has nothing further to add."
Morgan, who spent six years on the show, described his departure as "amicable".
The 55-year-old also defended his comments about Markle saying he "believes in freedom of speech".
"I had a good chat with ITV and we agreed to disagree. I believe in freedom of speech, I believe in the right to be allowed to have an opinion. If people want to believe Meghan Markle, that's entirely their right," he told reporters.
"I don't believe almost anything that comes out of her mouth and I think the damage she's done to the British monarchy and to the Queen at a time when Prince Philip is lying in hospital is enormous and frankly contemptible.
"If I have to fall on my sword for expressing an honestly held opinion about Meghan Markle and that diatribe of bilge that she came out within that interview, so be it."
Buckingham Palace responded to Prince Harry and Meghan's claims in a statement on Tuesday (local time).
"The whole family is saddened to learn the full extent of how challenging the last few years have been for Harry and Meghan," the statement reads.
"The issues raised, particularly that of race, are concerning. Whilst some recollections may vary, they are taken very seriously and will be addressed by the family privately.
"Harry, Meghan, and Archie will always be much-loved family members."
Where to find help and support:
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- Lifeline - 0800 543 354 or (09) 5222 999 within Auckland
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- Shakti Community Council - 0800 742 584