In a brief statement by French advertising giant Publicis on Wednesday, Roberts would step down in September.
Mr Roberts had been placed on leave for saying he did not think the lack of women in leadership roles was "a problem" in the advertising industry.
The head of Publicis, Maurice Levy, had condemned the comments. According to Levy, the remarks were contrary to the company's ethos of "Vive la Difference".
Kevin Roberts ran the UK’s most famous advertising firm Saatchi & Saatchi for 17 years, until his recent move upstairs to become executive chairman.