Warburton, who was capped 74 times by his country and played five tests for the British and Irish Lions, led Wales in a record 49 matches.
The flanker recently returned to pre-season training with his club Cardiff Blues.
"Unfortunately, after a long period of rest and rehabilitation the decision to retire from rugby has been made with my health and wellbeing as a priority as my body is unable to give me back what I had hoped for on my return to training," Warburton told the WRU website.
