Elliot, 38, announced in a statement that he was quitting both the flagship series and its spin-off "MasterChef Junior", reported Aceshowbiz.
He becomes the second original member to leave the franchise after Joe Bastianich parted ways with the series last year.
"It has been an awesome experience to be part of the 'MasterChef' family. I learned so much from the people I got to work with and it has been a true honor to share my love of cooking with the audiences who have allowed me into their homes over the last 6 years," he said.
In a joint statement, FOX, the show's production companies Endemol Shine North America and Gordon Ramsay's One Potato Two Potato called Elliot an incredible judge.
"Graham has been an incredible judge and mentor both on 'MasterChef' and 'MasterChef Junior'. He's provided insightful guidance and support to hundreds of participants who have entered the 'MasterChef' kitchen and he has played an integral role in discovering some of the country's greatest home cooks. Graham will always be a part of our 'MasterChef' family and we wish him all the best in his next chapter."
"We've all loved having Graham as part of the 'MasterChef' family, and the exciting and interesting part of reality television is that it's always evolving and changing," he said.
Elliot will complete the current fourth season of "MasterChef Junior", which airs on Friday nights, before he departs.
No replacement has been named yet, but a new judge is expected to be announced in the new year.
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