The England winger has been plagued by off-field and disciplinary issues and was dropped for last month's Champions Cup defeat to Wasps after missing training for a third time this season.
Eventually the club decided to cut their losses and Yarde has now signed a three-year deal at Sale.
England boss Eddie Jones has himself questioned the 25-year-old's attitude, while Quins' director of rugby John Kingston says the deal is in the best interests of the club.
Robshaw has backed up the coach, insisting that his former colleague had simply found himself in a position where he was no longer welcome at the Stoop.
"I am disappointed in him. Marland has unfortunately run out of lives," Robshaw told the BBC.
"It's a massive shame for the club because he's a talented player, but John has made a great stance."