Gregorio told Swiss chat show Schawinski: "The Fifa president, secretary general and communications director are all travelling in a car. Who's driving? The police."
Fifa announced in a statement that De Gregorio had "relinquished his office".
De Gregorio, 50, who has held the role since September 2011, is also understood to have clashed with Blatter after a disagreement with one of the president's allies.
Fifa said in its statement that De Gregorio would remain with the organisation on a consultancy basis until the end of the year.
But the BBC understands he was asked to leave by president Sepp Blatter.
Blatter himself announced earlier this month that he would step down as Fifa president following a new election, just two days after winning re-election for a fifth term.
That followed the arrest of seven top Fifa officials in a massive FBI corruption probe.
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