Rawlins has sold his shares in the club to Stoke Holdings after almost 14 years on the club's board because of his commitments with the new Major League Soccer team in Orlando.
In a statement released by the Potters, Rawlins said: "My commitments in the States and the elevation of Orlando City to MLS unfortunately mean that I can no longer put the necessary time into my duties as a Stoke director.
"I have thoroughly enjoyed my tenure on the board and have many great memories to cherish.
"My first game as a director was Rochdale at home in the Northern Final of the Auto Windscreens Shield... we've come a mighty long way since then."
Stoke are currently 11th in the Premier League.