The 37-year-old, signed on a free transfer from Barnsley in August 2010, has made just five appearances this season due to injuries - the last in the 2-0 defeat at Aldershot in November.
Moore, who was club captain, would have been out of contract in the summer but has agreed to end his stay at the Pirelli Stadium prematurely, having featured 42 times for the Brewers.
Manager Paul Peschisolido said: "Darren has been a big part of what we have been doing here. He's a great character and the lads all think highly of him, as do the staff. It's an amicable split and now we have to move things forward.
"In the first season he brought us stability and his professionalism was echoed throughout the football club. A lot of the young players looked at him and looked at the way he carried himself whether he was in the team or not. They can see that's the way they need to live if they want to be a professional for as many years as Darren Moore. On the pitch this season due to injuries he hasn't figured as much and that's the reason we've had to look at it from a business standpoint."
Moore said: "My time now as a player at Burton has come to an end. Myself and the club came to a mutual agreement to end my contract. I've had a great time at Burton but that has come to an end now and for myself I now need to move forward. My time here has been wonderful and I'll look on it as fond memories."
