Trump last week issued an ultimatum, gave WHO 30 days to change, but after just over 10 days, he decided to cut ties.
When announcing the decision, Trump reiterated allegations that the organization did not promptly warn the world about Covid-19 due to pressure from Beijing.
It is not clear whether Trump may decide unilaterally to withdraw from WHO.
Larry Gostin, director of the O'Neill Institute for National and Global Health Law at Georgetown University, said the president may need congressional approval to end US membership.
"The only situation he can do is that parliament has agreed to hand this power over to the President before," said Kelley Lee, a professor of public health at Simon Fraser University.
If Trump unilaterally makes a decision, Congress can sue him in federal court on the matter, Gostin said, but Trump was still stopped funding the WHO until the court ruled.
Experts say that in the end, US politics will be the party determining whether Trump's actions are appropriate.
The question many ask is why Trump suddenly makes a decision when the deadline is up.
Trump then said the government was working with WHO to implement reforms, though he did not specify what they were.
"If there is a problem, the United States should just name it and fix it, instead of withdrawing from the organization," said Amanda Glassman, from the Center for Global Development.
According to Alex Ward, Vox journalist, Trump's move dealt a blow to WHO.
However, Trump's decision may not have an immediate effect on WHO operations.
Global health experts consider his decision to cut ties with WHO at the time Covid-19 was raging as a dangerous option.
"WHO is the world 's early warning system for infectious diseases," Democratic Senator Nita Lowey said.
Trump has long overlooked multilateralism when he focused on the "America first" agenda.
In fact, John Ullyot, spokesman for the US National Security Council last week, stressed that although the US stopped funding for WHO, Washington pledged a total of $ 10.2 billion to deal with the global pandemic.
At a meeting with WHO members last week, China pledged to contribute $ 2 billion to fight Covid-19 over two years.
"The move to leave WHO sends the message that the world cannot rely on US leadership," Republican congressman Will Hurt wrote.
"During the pandemic, WHO leaders made questionable decisions, especially for China, but it still plays an important role in the effort to keep the world healthy," Hurt added.