The second-year assistant, who joined Holgorsen's staff in 2011 before his first season as head coach, started coaching inside receivers at West Virginia. He moved to the cornerbacks position before this past season.
The Mountaineers struggled in pass defense, finishing 119th of 120 FBS teams in the statistic, giving up 327 yards per game through the air. The cornerback position was a revolving door, with five players starting at least one game at the spot.
Roberts came to Morgantown after following an unusual path to football coaching. He graduated from Harvard Law School before joining the Kansas City Chiefs and Detroit Lions of the NFL in assistant coaching roles on defense.
In a statement released by WVU, Holgorsen said: "I want to thank Daron for his time on staff at West Virginia. We wish him the best in his future endeavors."