She said the decision was an affirmation of United States respect for human rights, a commitment that "does not allow us to remain a part of a hypocritical and self-serving organisation that makes a mockery of human rights".
Haley also said the "disproportionate focus and unending hostility toward Israel is clear proof that the council is motivated by political bias, not by human rights". She has also attempted to expel member countries where vast human rights violations have been proven.
Ms Haley said: "In doing so, I want to make it crystal clear that this step is not a retreat from our human rights commitments".
A State Department spokeswoman didn't immediately respond to a request for comment, while the United Nations said it hadn't received a notification that the USA was withdrawing.
Kenneth Roth, the executive director of Human Rights Watch said: 'All Trump seems to care about is defending Israel'.
U.S. Ambassador to the United Nations Nikki Haley delivers remarks to the press together with U.S. Secretary of State Mike Pompeo, announcing the U.S.'s withdrawal from the U.N's Human Rights Council at the Department of State in Washington, U.S., June 19, 2018. The official wasn't authorized to comment publicly and insisted on anonymity.
The move comes as little surprise from an administration that frequently has lambasted the 47-member body for a gamut of perceived failures - including what Haley has called the council's "relentless, pathological campaign" against Israel, a staunch USA ally.
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The battle has since killed at least 139 fighters, according to medical and military sources. 30 rebels were said to be killed. United Nations special envoy Martin Griffiths, meanwhile arrived in Sanaa in an effort to broker a cease-fire.
On the opening day of the council's current session, British Foreign Secretary Boris Johnson criticised the body's perennial agenda item dedicated to Israel and the Palestinian territories, calling it "damaging to the cause of peace".
United Nations rights chief Zeid Ra'ad Al Hussein said on Monday "the thought that any state would seek to deter parents by inflicting such abuse on children is unconscionable". No country has ever dropped out voluntarily.
Washington's withdrawal is the latest US rejection of multilateral engagement after it pulled out of the Paris climate agreement and the 2015 Iran nuclear deal. Trump's son-in-law and senior adviser, Jared Kushner, is visiting the Middle East this week as the White House works to lay the groundwork for unveiling the plan.
Israel's Ambassador to the UN Danny Danon welcomed Haley's announcement, saying in a statement that the U.S. "has proven, yet again, its commitment to truth and justice and their unwillingness to allow the blind hatred of Israel in worldwide institutions to stand unchallenged". Members serve for three-year terms and can serve only two terms in a row.
Before the United States joined, half the country-specific votes condemned Israel.
Despite the criticism, he said "I stress that that does not mean that we in the United Kingdom are blind to the value of this council". It was only in 2009 that the USA joined the organization under President Barack Obama, whose administration argued that US membership could better steer it.