The Czech coach was relieved of his duties following Friday's 4-2 defeat at home to Cagliari in Serie A.
That result leaves the Giallorossi in eighth place in the league table, with just one win from their last six games.
A short statement on his official website read: "I am sorry for the Roma fans, but I tried to give my all. Zdenek Zeman."
Zeman returned to Roma for his second stint in charge in the summer.