"We will not participate in Human Rights Council sessions going forward, including in the session now underway".
The European Union said the move "risks undermining the role of the United States as a champion and supporter of democracy on the world stage", while British Foreign Secretary Boris Johnson called it "regrettable".
Kenneth Roth, executive director of Human Rights Watch, criticized the move.
Slovenian ambassador Vojislav Suc, who now holds the council's rotating presidency and has been pushing a faltering reform drive, described the Geneva-based chamber as the best place to trigger action on unsafe rights crises.
"Given the state of human rights in today's world, the U.S. should be stepping up, not stepping back", Zeid said after Haley announced the USA withdrawal.
The United States has officially ended its membership on the United Nations Human Rights Council.
Markets tumble with China, US towards trade war
The risk of "a more meaningful impact on global trade and growth have increased", said Morgan Stanley economists in a report. China responded with a 178.6 percent tariff on all imports of sorghum to the United States.
United Nations officials said the USA would be the first member to withdraw from the council.
"China advocates and commits itself to safeguarding multilateralism, and supports the UN Human Rights Council and other mechanisms to work together for the promotion and protection of human rights worldwide, Geng said".
Asked about criticism of China's human rights record from the U.S., Shuang said the U.S. overlooked facts and noted that China had made significant progress on human rights, Reuters reported.
"The Human Rights Council has become an exercise in shameless hypocrisy - with numerous world's worst human rights abuses going ignored, and some of the world's most serious offenders sitting on the council itself", Pompeo said.
"China will continue, working with all sides, to make its contribution to the healthy development of human rights around the world via constructive dialogue and cooperation", he added.
The US' announcement comes after the council voted last month to probe the killing of scores of Palestinian protesters in the Gaza Strip and accused Israel of excessive use of force.
Plan for North Korea denuclearization exists, Seoul reveals
This marks the first time that a civic group has been permitted to visit the North since the Moon Jae-in government was inaugurated in May 2017.
The biased treatment of Israel has drawn criticism and admonishments to act more evenhandedly from numerous global human rights groups and world leaders - including UN Secretary-General Antonio Guterres. In addition to the perceived bias against Israel, Haley cited the council's alleged hypocrisy among varying governments.
Washington's withdrawal is the latest U.S. rejection of multilateral engagement after it pulled out of the Paris climate agreement and the 2015 Iran nuclear deal.
The United Nations' Human Rights Council returned to business as usual Wednesday despite the USA pulling out a day earlier.
Under President Barack Obama the United States was elected for a maximum of two consecutive terms on the council by the UN General Assembly. Libya was kicked out seven years ago. It calls the 47-member body "hypocritical" and "self-serving".
"It's worth pointing out that Bolton is now the national security adviser and certainly much of his views about the United Nations have not changed in those 12 years", she added.
The United States' current term on the council ends next year.
Could this be Lionel Messi's last tournament?
And so, after the first round of games in Group D ... "What matters is you score", Croatia coach Zlatko Dalic said. Croatia's victory sent it to the top of the group after Argentina could only manage a 1-1 draw against Iceland .