Joe is one of eleven players due to leave the club as their contracts expire at the end of June as recently-appointed manager Darrell Clark looks to rebuild the team ahead of the upcoming League Two campaign.
28-year-old Edwards joined the Saddlers from Colchester United in the summer of 2016 and went on to make over one-hundred first-team appearances, becoming something of a fan favourite for his versatile displays.
Speaking via his official Twitter feed, Joe said; "Would just like to wish [Walsall FC] the very best for the future! I’ve had highs & lows over my 3 years but would just like to thank everyone who supported me throughout my time especially during my injury most notably the fans and my teammates! Time for a fresh start."
Joe also went on to thank Physio Marc Czuczman, who helped him to return to fitness following a lengthy injury lay-off. He added; "Not to mention [Marc Czuczman], who got me back playing when at times I was told it might not be possible."