Neil Harris has been appointed as the new manager of Cardiff City.
Harris will be joined by his former Millwall assistant David Livermore, while coaches James Rowberry and Andy Dibble will remain at the club.
However, first-team coach Ronnie Jepson and Warnock's assistant manager Kevin Blackwell will leave.
Rowberry will take over as first-team coach at the Championship side, while Dibble continues as goalkeeping coach.
Cardiff owner Vincent Tan said: "I am pleased to appoint Neil as first-team manager of the club.
"I have full confidence in Neil due to his principles on and off the pitch and enthusiasm to succeed. I am glad to offer him this opportunity and look forward to seeing what he is capable of achieving with Cardiff City."