Robert Mugabe also sacked seven other ministers allegedly involved in the plot, an official statement said.
Joice Mujuru, once seen as a future possible leader, has denied plotting against the president.
State media and Robert Mugabe’s wife, Grace, have conducted a campaign against Joice Mujuru for months.
“President RG Mugabe has exercised his executive powers to release the Honorable Joice Mujuru… with immediate effect,” said a statement by government official Misheck Sibanda.
Joice Mujuru’s conduct had been “inconsistent with the expected standard”, the statement added.
Last week President Robert Mugabe denounced his vice-president.
Joice Mujuru was also removed from her post in the ruling party Zanu-PF.
She responded by saying her loyalty to Robert Mugabe was “unquestionable” and that it was “repugnant” to suggest she was intent on killing the president.
Joice Mujuru fought alongside Robert Mugabe during the 1970s war against white-minority rule.
There had been speculation that Joice Mujuru might try to eventually succeed President Robert Mugabe.
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