The club had been keen to extend the Spaniard’s five-year spell at Old Trafford, but were unable to agree fresh terms with the midfielder.
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In a video uploaded by Manchester United’s Twitter account, Herrera, who has been linked with a move to Paris Saint-Germain, said: “There is red in my heart, I knew it from the first time I played here and in the moment that I started to wear the shirt.
“This is a club with thousands of fans that respect and remember all the players who have given everything.
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“I felt special when I heard my name chanted. I felt proud when the fans decided I was part of this incredible history.
“Every time I represented this club in wins and losses even when I couldn’t help from the grass, I understood what this club means.
“I am going to remember each of the almost 200 matches that I have played with this jersey because playing for the greatest club in England has been a true honour. Thanks for these five amazing years.”
Herrera joined Manchester United in a £29million deal from Athletic Bilbao in 2014.