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Gills boss Justin Edinburgh says skipper Doug Loft was released as he did not offer the club value for money given his problems with injury.
Loft headed a list of players leaving the club this summer with the expiration of their current deals, with winger Jermaine McGlashan, Brennan Dickenson and back-up keeper Glenn Morris also on the way out of Priestfield.
Loft, 29, joined the Gills from Port Vale two years ago and was immediately installed as skipper but injury has limited him to just 62 league appearances for the club, during which he scored five goals.
Edinburgh said: “It has been stop-start time for him at Gillingham but more so this year. You have to look at value for money, games played and minutes on the pitch and I just thought it was time for a change.
“It was time for Doug to go and have a fresh challenge. He felt that as well."
He added: "“Some people go through their career playing in endless games and not having any injuries but others, they get to a point where they just tend to not be able to shake it off.
"Probably over the last 18 months, he has found that difficult to do.”
McGlashan struggled to force his way into Edinburgh’s team this season.
During his two years at the club he made 29 league starts and 28 appearances from the bench, scoring five times.
“He has been an outstanding team member at this club,” said the Gills boss.
“He is a bubbly character and it has been difficult for him at times. But whenever he was called upon, his attitude was first class, his efforts were always at the forefront. It was a tough decision for me.”
Dickenson was a surprise first-choice left back at the start of the 2015/16 season, keeping out Bradley Garmston.
The 23-year-old eventually lost his place, however and leaves after making 67 league appearances.
Edinburgh said: “It was a difficult one for me. Brennan would realise that at times he was unplayable and at times he was an enigma.
“We weren’t quite sure Brennan had that improvement at left-back after a bright start. I am not sure he was ever going to be defensively reliable to fulfil it with the way we play.”
Morris was chosen ahead of Stuart Nelson at the end of 2014/15 but had to make do with a place on the bench for the whole of this season.
Morris has made 12 appearances for the Gills in total during the two seasons spent at the club.
Edinburgh said: “I felt he would have a chance of starting the season but you have to give credit to Stuart. Unfortunately for Glenn, he came back with the bit between his teeth in the summer.
“He hit pre-season running, never looked back and only got better. Glenn just couldn’t break in.”
New contracts are, however, to be offered to Nelson, versatile Aaron Morris together with midfield pair Josh Wright and Emmanuel Osadebe.
Young pros Mitchell Dickenson, Elliott List, Greg Cundle and keeper Tom Hadler have also been offered new deals.
Teenage midfielder Darren Oldaker, 17, has been offered his first professional contract along with young keeper Henry Newcombe, the only one of the second year scholars to win a deal.