The comedian and author Robin Ince has resigned from his role as co-host of the long-running BBC Radio 4 podcast The Infinite Monkey Cage after a fallout with BBC executives over “problematic” opinions and what he described as a lack of “obedience”.

Ince, who has co-presented the popular science show alongside Prof Brian Cox for 16 years, posted on social media that his personal views, aired outside the BBC, “have been considered problematic for some time” and he “felt he had no choice but to resign”.

He wrote on Instagram that “voicing support for the trans community, criticism of Donald Trump [and] numerous other outlandish opinions, including once gently criticising Stephen Fry … were considered to conflict with being a freelance BBC science presenter.

“In a recent meeting where BBC studio executives again voiced problems, I realised my choices. Obedience and being quieter to remain making Monkey Cage, or ‘resign and have the freedom to speak out against what I believe are injustices’. I chose the latter. It broke my heart.”

He said that he had resigned in September, and on Friday recorded his final episode of the award-winning radio show, which he co-created.

He said he saw his resignation as a “victory” for his critics, adding that he accepted he was not what “the current BBC” expected of their freelance presenters.

The BBC has strict impartiality rules which state “the highest level of impartiality is required in news and journalism in all its forms” and require “any individual in a role requiring impartiality, who is intending to express opinions publicly on matters of current public policy, politics or any controversial issue … must inform their line manager in advance”.

Claims of “serious and systemic problems” in the broadcaster’s coverage of issues including Trump, Gaza and trans issues led to the resignation of its director general, Tim Davie, last month.

Ince said he had never previously thought about leaving the show. “I always imagined going on until I dropped dead under the studio lights due to a brain aneurysm caused by my final attempt to understand notions of quantum gravity or the shock of being told about fly maggot infestations in the sacs of macaque monkeys.

“I love this show and I love the audience, and it is because of the audience in particular that this decision was so difficult to make. I kept thinking about all the extremist voices promoting hate and division.

“They are being given so many platforms, while voices that represent kindness, open mindedness [and] empathy seem to be scarcer and scarcer. I felt I couldn’t pamper myself with the luxury of silence.”

The BBC has been approached for comment.