The 44-year-old's position has been uncertain since the autumn when his deal expired in the wake of the 2-1 series win over New Zealand.
"The RFL has concluded that with the 2016 Four Nations and 2017 World Cup on the horizon, now is the time to make any change to the England set-up," said chief executive Nigel Wood.
"Steve McNamara has been the longest serving national coach in our history and it is undoubtedly the case that the national team and set up have moved on considerably under Steve's leadership.
"We would like to place on record our thanks to Steve McNamara for his considerable efforts over the years to both the England senior team and the underlying programme. He leaves with our very best wishes and on a high, after a series win over New Zealand."
England won 16 of the 27 matches that McNamara took charge of following his appointment in 2010.