Last year, the former soldier faced a backlash over comments he made about the Black Lives Matter protests and coronavirus.
In a statement, a Channel 4 spokeswoman said: “Ant Middleton will not be taking part in future series of SAS: Who Dares Wins.
“Following a number of discussions Channel 4 and Minnow Films have had with him in relation to his personal conduct it has become clear that our views and values are not aligned and we will not be working with him again.”
Middleton said in a tweet he had “decided it’s time to move on from SAS Who Dares Wins UK”.
“Big respect to my fellow DS – it’s been a journey I’ll never forget,” he tweeted.
“Thanks to everyone that took part and made the show what it is. Really excited about the future and what’s coming this year.”
He added: “Stay positive.”
In June, Middleton apologised after he used the word “scum” in reference to the Black Lives Matter protests, as he complained about the “extreme left” and “extreme right” taking to the streets.
Middleton said he was “anti-racist and anti-violence” after he deleted the tweet.
In March last year, he backtracked on comments he made about the coronavirus pandemic after he urged people to “carry on as normal”.
He told his social media followers to not “be a sheep” and said he did not believe Government advice to self-isolate applied to him because he is “strong and able”.
Middleton later said he had been “a bit insensitive towards the magnitude, the scale, of the crisis that’s happening in the UK”.
SAS: Who Dares Wins sees civilians put through gruelling military training exercises to test their psychical and mental strength.
Middleton also presented the programme’s celebrity spin-off, which has featured famous faces including reality star Joey Essex, former glamour model Katie Price and ex-footballer Wayne Bridge.