The Frenchman made 217 appearances for the Blues during his career, winning two Premier League titles.
Makelele left Chelsea as a player in 2008 but sealed his return to the club 11 years later as a youth and technical mentor.
He joined at the time in which Frank Lampard began his first season in charge at Stamford Bridge.
However, Gianluca Di Marzio reports that Makelele has now left his coaching position at the club, doing so by mutual decision.
As part of his role, the former midfielder worked closely with stars in the Chelsea academy at their Cobham training ground.
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He also visited stars who were playing away from the club on loan and provided regular feedback on their matches.
Makelele starred at Stamford Bridge earlier in the month as he played in a legends match in memory of Blues legend Gianluca Vialli.
He played for Chelsea Legends in their 4-0 win over Bayern Munich Legends, although it is said he left the club before this.
Makelele is just the second reported coaching departure in as many days in west London.
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talkSPORT understands that Bruno Saltor has left his role as a first team coach at Stamford Bridge.
Bruno, who joined the club alongside Graham Potter, was named in Mauricio Pochettino's backroom team in the summer.
However he has now left and is understood to have done so several weeks ago.
Chelsea opted not to officially communicate his departure and decided against making a public announcement.