Militao has gained valuable experience playing alongside one of the greatest defenders of this generation for the past two seasons.
Ramos wanted a two-year extension to his contract with a 10 percent decrease in salary but the club offered a one-year extension, which was later taken off the table, leaving Ramos to find a new club.
"We know about the history of Sergio and what it is for the history of Real Madrid," said the Brazil international. "I have no words to describe all that he means.
"I learned a lot from him during these two years, he is an excellent person, he always has a winning spirit and without any doubt he will be a loss for Real Madrid.
"It's a shame Sergio has left, because he was very important to the group.
"Now I wish him a lot of happiness and that he triumphs wherever he goes."
Ramos made 671 appearances for Real Madrid in his time at the club but only 21 of those came in the 2020/2021 season as he was dogged by injuries and missed out on Spain’s travelling party for the European Championship as a result.
Ramos won five La Liga titles with Los Blancos, four UEFA Champions League trophies, four FIFA Club World Cups, two Copa del Reys among numerous other honours.
He also won the FIFA World Cup in 2010 with Spain as well as the 2008 and 2012 European Championships.