The Argentine spent five years in charge of the North London side.
Pochettino led Spurs to top-four finishes in four of his five seasons in charge, as well as their first Champions League final in the 2018/19 campaign.
However, they have won just five matches this season and chairman Daniel Levy said a change had to be made in the “club’s best interests”.
An official club statement read: “We were extremely reluctant to make this change and it is not a decision the board has taken lightly, nor in haste.
“Regrettably domestic results at the end of last season and beginning of this season have been extremely disappointing.
“It falls to the board to make the difficult decisions – this one made more so given the many memorable moments we have had with Mauricio and his coaching staff – but we do so in the club’s best interests.
“Mauricio and his coaching staff will always be part of our history. I have the utmost admiration for the manner in which he dealt with the difficult times away from a home ground whilst we built the new stadium and for the warmth and positivity he brought to us.
“I should like to thank him and his coaching staff for all they have contributed. They will always be welcome here.
“We have a talented squad. We need to re-energise and look to deliver a positive season for our supporters.”
