Listing several reasons for his disenchantment with the party, he said the immediate provocation was that he was not invited to a meeting of senior Haryana Congress leaders called by Kamal Nath, who is in charge of the party's affaitrs in the state.
Yadav made his displeasure public on the social media on Friday.
"Mr. Kamal Nath, you in a month misled high command and undermined my prestige. You have 40 years of experience but I too have 30 years of work," Yadav posted on Twitter.
"Some people are misleading and undermining my endurance and capacity to work for the party and I believe in destiny, God, karma and friends," the former minister added.
Apart from Kamal Nath, Yadav also made his differences with former Haryana Chief Minister Bhupinder Singh Hooda known.
"My father was true a Congressmen and I too and had great faith in the Nehru-Gandhi family but B.S. Hooda is supreme and others are insignificant," Yadav wrote.
"I gave my youth and life for the Congress and worked as a true soldier of the party but my ego has been hurt. I quit the Congress," he said.
Yadav also posted a letter on Facebook, saying in return for devoting his entire youth and life to a great party, he got "humiliation, pain and ill health".
"I was tormented mentally by those leaders who treated the government machinery as their fief and looted the exchequer. I had written all this in a letter to Congress President Sonia Gandhi, because I have good relations with her and she has given me due importance."
"I will always respect her as she is the wife of my guru, the late Rajiv Gandhi. I believe some people around her are blackmailing and misleading her. She gave me promotion but Bhupender Singh Hooda reversed it. Hooda is damaging the Congress ideology," Yadav wrote on Facebook.
He said he was quitting the Congress "with a heavy heart".
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