Walt Disney Co.’s Chief Executive Robert Iger resigned from Apple Inc.’s board of directors, the tech giant said on Friday, severing a yearslong connection between the two companies as they prepare to launch competing video-streaming services.

He resigned on Tuesday, Apple AAPL, -1.94%   said in a one-sentence filing to securities regulators.

Iger, who has led Disney DIS, +0.38%   since 2005, joined Apple’s board in 2012 and was serving as the nominating-committee chair and on the compensation committee. He had a close relationship with Apple co-founder Steve Jobs, born out of the 2006 sale of Pixar Animation Studios to Disney. Jobs was Pixar’s chairman.

An expanded version of this story appears at WSJ.com.