The US ambassador to the UN Nikki Haley said that the US had to withdraw from the council after no other countries “had the courage to join our fight to reform the body”.
Ms Haley said: “For too long, the Human Rights Council has been a protector of human rights abusers, and a cesspool of political bias.”
She said that the decision was part of a commitment that does not allow us “to remain a part of a hypocritical and self-serving organisation that makes a mockery of human rights”.
The council was against Trump’s immigration policy and the announcement has come just a day after the UN human rights chief denounced the Trump administration for separating migrant children from their parents.
Ms Haley said: “In doing so, I want to make it crystal clear that this step is not a retreat from our human rights commitments.”
Last year Ms Haley accused the council of “chronic anti-Israel bias” and said the US would review it membership.
The council was formed in 2006 and had been questioned for allowing countries with bad human rights records to be members.
In an address last year, Ms Haley said it was “hard to accept” that resolutions had been passed against Israel yet none had been considered for Venezuela.
The US joined the council in 2009 under President Obama.
In 2013, human rights group criticised the council allowing China, Russia, Saudi Arabia, Algeria and Vietnam to be elected to the body.
The council has the aim of highlight human rights abuses by adopting resolutions.
This is the latest example of the US leaving joint global efforts to tackle issues, they also left the Paris climate agreement and the Iran nuclear deal.