The reality TV star confirmed she's leaving the show in an Instagram post on Tuesday morning.
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"What a journey this has been. I have laughed and cried and tried to Make it Nice," she began. "But all things must come to an end. This was a great outlet for me to heal when my late husband Richard passed away."
"I have met so many interesting people and learned so much about myself, about life and about women along the way," she added.
"Thank you to Bravo and NBC for the incredible ride and to my cast mates for constant stimulation and entertainment," she concluded. "I wish you all health, happiness and success."
The move comes after a bumpy season on the show, which is currently airing. Throughout the new episodes, her attitude toward her costars has been criticized, especially when she drinks.
Medley officially joined the cast in 2015 for the show's seventh season.
The show's 12th season is currently airing and the women already recently filmed the reunion, which will air later this year. Tinsley Mortimer also exited mid-season.
Bravo wasn't immediately available for comment.
Following her announcement, Andy Cohen jumped into Dorinda's comments to write, "What a ride. Unforgettable."
"I'm gonna miss you," added Leah McSweeney. RHONJ's Melissa Gorga write, "Say it isn't so. Legend" -- while Tamra Judge added, "No! you're gonna be missed!"
Former RHONY star Bethenny Frankel shared her own post on Instagram about Dorinda's exit.
"Every woman in this world wears a little sparkle, some in their dress, and some in their eyes," she wrote. "Use each moment to make another's eyes sparkle and to warm a heart. Don't let anyone or anything dull your sparkle. Don't let the insecurities of others dull your sparkle. You will be missed...let the next chapter begin."