The 47-year-old spent eight years on the show and filmed 35 episodes starring as DS Aiden Healey alongside TV veteran Brenda Blethyn.
The show is set in Northumbria, and centres around no-nonsense detective Vera Stanhope, and features Kenny as her right-hand man and co-worker.
In an emotional statement to fans, Kenny said: “I want to thank everyone who’s made this amazing time so joyous.
“ITV, Silverprint, all the brilliant cast and crew but of course my buddy and inspiration Brenda Blethyn.
“The perfect leading star who I owe so much to.
“I feel lucky to have you as a friend, you make me howl with laughter and have been a rock for me over the years.
“I can’t thank you enough.
“Finally the Vera fans - without you and your support I would never have made so many films.
“You really are the best fans in the world.”