The 32-year-old came close to leaving Anfield in January but ultimately rejected the chance to head to struggling Tottenham.
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Robertson joined Liverpool from Hull back in 2017, and has gone on to win two Premier Leagues, and a Champions League among other trophies.
Following the summer arrival of Milos Kerkez, Robertson has fallen down the pecking order under Arne Slot, starting just six of his 19 Premier League games.
Liverpool have now confirmed that Robertson will leave the club once his contract expires at the end of the season.