The university made the announcement Wednesday. Coach Tubby Smith confirmed Joseph's departure after Tuesday's win over Indiana.
The Canadian junior, who can play both guard positions, started 25 of 76 games in his Gophers career. He averaged 7.7 points, 2.4 assists, 2.3 rebounds and 21.6 minutes.
Joseph was a go-to player late last season who led Minnesota to the Big Ten tournament championship game and the NCAA tournament. He was forced to sit out the first six games this season for breaking team rules and then told Smith this week he was leaving.
Joseph averaged 11.2 points in eight games this season.