His departure comes just one week after the actor announced he would not be returning to the police drama set in the Caribbean.
In the second part of a double-bill instalment, which saw the detective travel to London to solve two murders, he handed over the reigns to his replacement DI Jack Mooney (played by Ardal O'Hanlon).
Viewers watched as Humphrey then reunited with Martha Lloyd (Sally Bretton) after he declared his love for her in front of her work colleagues.
Craving a quieter life in the capital, he agreed to stay in the country and begin a new life with her.
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Death in Paradise viewers sobbing as Kris Marshall says goodbye: 'It won't be the same'
Sally Bretton played Humphrey's love interest Martha in the BBC series
It won't be the same without Kris Marshall
Death in Paradise viewer
And, while his departure was a heartwarming one, those tuning in at home were sobbing as they said their goodbyes to the detective.
One viewer tweeted: "#DeathInParadise won't be the same without Kris Marshall."
While another added: "Can't believe it, you cannot top Kris Marshall in that Role, Thursday's will never be the same again #deathinparadise."
"Don't think I'll be able to get over #Humphrey leaving for a while those are big shoes to fill #deathinparadise," a third wrote.
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Kris Marshall played Detective Humphrey Goodman in Death in Paradise
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Ardal O'Hanlon replaces Kris as DI Jack Mooney
Someone else continued: "I know Father Dougal will be v good, but @HumphreyGoodman I'm sobbing you're gone #deathinparadise."
As the episode came to a close, DI Jack Mooney was seen arriving on the island of Saint-Marie with his new colleagues.
With two instalments left to go until the end of series six, fans of the show will have the chance to see how he settles into his new role over the next couple of weeks.
Death In Paradise continues on BBC One on Thursday at 9pm.