He will officially step down on Friday, June 1. The state will not be able to refile the computer tampering charge, but the agreement has no bearing on the decision of a special prosecutor, Jean Peters Baker, whether to refile invasion of privacy charges.
In a defiant and emotional statement to the media in the governor's office, the onetime rising Republican Party star denied breaking any laws but said the pressure of multiple investigations by prosecutors and lawmakers had taken a toll.
On another occasion, Greitens slapped her in the face and called her a whore, she said.
Then less than two weeks ago, the Missouri Legislature began meeting in special session to consider whether to pursue impeachment proceedings to try to oust Greitens from office.
"The time has come, though, to tend to those who have been wounded, and to care for those who need us most".
"Today I am announcing that I will resign as governor of Missouri, effective Friday", Greitens told reporters.
Greitens announced his resignation Tuesday.
Most recently a state House investigative committee has been attempting to collect information about another nonprofit organization with close ties to Greitens.
While the scandal and the governor's resignation have garnered national headlines, several municipal bond market participants see little impact on the state's market standing, or view any potential impact as potentially positive. Those charges stem from his alleged use of a donor list from a charity he founded, The Mission Continues, to benefit his campaign.
On May 17, Greitens suggested to a crowd of supporters gathered for an agricultural event that he wouldn't give up.
"This ordeal has been created to cause an incredible amount of strain on my family - millions of dollars of mounting legal bills, endless personal attacks created to cause maximum damage to family and friends", he said in a brief statement from his Jefferson City office, his voice breaking at times.
Greitens had refused to leave even facing the prospect of becoming the first governor in Missouri's history to be impeached.
"I am not flawless".
Greitens is a married father of two young sons.
Gardner, a Democrat, had been accused by defense attorneys of misconduct in the case. There was concern that the Greitens drama could pollute the state GOP, once again providing McCaskill with a possible lifeboat created by Republicans.
The development comes after a long-playing scandal over an extramarital affair Greitens had in 2015, before he took office.
While admitting to the extramarital affair, Greitens insisted his failings were personal and did not rise to the level of a criminal offense.
His departure elevates fellow Republican Mike Parson, the lieutenant governor, to the governor's office.
St. Louis Circuit Attorney Kim Gardner said her office made a decision to dismiss a charge of computer data tampering against the governor, who was once a fast-rising star in the Republican Party.
Greitens ended the news conference saying he will "always be a fighter for the people of Missouri".