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Burns, who was originally appointed during Mick McCarthy's spell in charge, was briefly promoted to Assistant Manager under David Tuttle and had been expected to resume his goalkeeping duties. But with the appointment of Nigel Spackman as manager, he feels the time is right to call it a day.
"I have discussed the situation with Nigel Spackman who fully understands my position and completely accepted my reasons for wanting to move on," Burns told the official website.
"I felt that when Tutts left I should probably have gone too. I believed that I had to take my share of responsibility for the club's failure to avoid relegation which affected me deeply.
"I am grateful to Millwall for offering me the chance to resume my position as goalkeeping coach once again, but after much consideration I have decided that it is in the best interests of the club and myself to move on and allow the new management team to take Millwall forward.
"I wish Nigel, Willie Donachie, the players, and in particular the fans of this great club all the best for the coming season in the hope that Millwall can regain their place in the Championship at the first attempt."