After days of rumour and speculation about his position, Andy Robinson has finally stepped down as head coach of the England rugby team.

Speculation has been intense since England lost to South Africa at Twickenham on Saturday - their eighth defeat in nine games - that Robinson would either resign, or be forced out by the Rugby Football Union. A discussion over a financial settlement stretched the process into a third day of wrangling, but that now appears to have been settled.

Robinson, assistant to Sir Clive Woodward when England won the 2003 World Cup, was the obvious choice to take over when Woodward quit in September 2004. But ever since, England have been in a steady freefall, losing 13 of 22 matches, including a record-equalling seven in a row earlier this year.

"Following last Saturday's match against South Africa my position remained that I was confident that I would coach the England team through to a successful World Cup in 2007, not withstanding the setbacks that we have had through the autumn," Robinson said in a statement this afternoon.

"It is my understanding that I had, and still have, the support of the England players and the England management team. However, in the last 48 hours, I have been advised by senior colleagues that those who have governance over me - the RFU management board - do not, and will not, continue to support me as England head coach.

"Therefore, it is with regret that I have agreed a parting of the ways with the RFU and I will cease to be England head coach with immediate effect."

Robinson was critical of the structure of English rugby, saying it hampered the chances of the national team achieving success. "I leave very much hoping that rather than sacrificing any more England victories and sacrificing more quality coaches, that the professional game in this country admits that the current structure and system for developing elite rugby players and performance in the international arena is not working," he said.

"If that is so then my successor may have a sensible platform from which to meet everyone's expectations for England success."

The RFU's director of rugby Rob Andrew paid tribute to the contribution Robinson made to England, both as head coach and as Woodward's right-hand man. "The announcement is made with a great deal of regret as Andy has made a significant contribution to England during the six years he has been involved with the side.

"Andy played a significant part in England's grand slam, unbeaten tour to Australia and New Zealand and World Cup success in 2003. He also recorded excellent wins against Australia, South Africa and Wales during his tenure as head coach and was always totally committed to the role. The RFU will always be grateful for his contribution to the England cause.

"Unfortunately, with the exception of the win against South Africa on November 18, England's recent results have not gone the way that Andy, the players, supporters and the RFU would have wished for. Andy leaves with our very best wishes.

"The review of the four Investec Challenge matches will continue and I will be making my recommendations on the way forward for the team to Club England when they meet on December 7. They in turn will review my report and make their recommendations to the RFU management board for their final decision on December 20."

Robinson was under pressure from the media and supporters in England when results started to go against him just months after he assumed control. The team finished a dismal fourth in successive Six Nations Championships in 2005 and 2006, and were then twice humiliated by Australia earlier this year, after which Robinson was given a reprieve while his coaching staff - Phil Larder, Dave Alred and Joe Lydon - were given the boot at the end of the summer.

However, despite welcoming new coaches Brian Ashton, Mike Ford and John Wells, and Andrew joining the RFU, results and performances have not improved this autumn. A record-breaking defeat to New Zealand was followed by a first ever loss to Argentina, and though England put an end to their seven-match losing streak by beating what was in effect a South African reserve side, defeat to the same team on Saturday was the final straw.

Andrew is the early favourite to step into the breach and lead England to next year's World Cup, with Martin Johnson, Warren Gatland, Nick Mallett and Richard Hill other candidates.