The rift in the Anglican Communion over homosexuality has reopened after its first openly gay bishop, Gene Robinson, said he was retiring early because seven years of controversy had "taken their toll" on him, his family and followers.

Bishop Robinson's consecration in the diocese of New Hampshire in 2003 brought conservatives and liberals in the Anglican Communion to the brink of schism.

As the first non-celibate gay clergyman in the Anglican Communion to become a bishop, his appointment exposed irreconcilable theological divisions between liberals and conservatives that reverberate to this day.

Last year, North American traditionalists broke away from the US Episcopal church to set up their own network. This year, Episcopalians consecrated a non-celibate lesbian to the post of assistant bishop in Los Angeles.

Bishop Robinson told the New Hampshire gathering that "the constant strain" was too much to bear.

He said: "Death threats, and the now-worldwide controversy surrounding your election of me as bishop, have been a constant strain, not just on me, but on my beloved husband, Mark, who has faithfully stood with me every minute of the last seven years, and in some ways, you.

"While I believe that these attitudes, mostly outside the diocese, have not distracted me from my service to you, I would be less than honest if I didn't say that they have certainly added a burden and certain anxiety to my episcopate."

He also revealed he had no intention to retire from public life, saying he would continue his work on college campuses and public forums.

"I get the opportunity to make the case for God and for God's church – either to those who have never known God's unimaginable love, or to those who have been ill-treated, in the name of a judgmental God, and who have left the church.

Bishop Robinson thanked people for their support over the years, saying New Hampshire was the one place he was always "the bishop" and not "the gay bishop".

"Recent news brings us the tragic stories of teenagers who have taken their own lives because religion tells them they are an abomination before God and who believe that their lives are doomed to despair and unhappiness."

He said: "I believe you elected me because you believed me to be the right person to lead you at this time. The world has sometimes questioned that, but I hope you never did."

News of his early retirement has done little to appease those who are angry with the inclusive, progressive nature of Episcopalians. The Archbishop of Sydney, the Rt Rev Peter Jensen, said there was more to the "agonising dispute" than Gene Robinson's non-celibate status, while a conservative evangelical group said the exit changed nothing and accused US Anglicans of "promoting ethical and doctrinal standards … contrary to scripture".

"They have chosen to walk apart," said a statement from Anglican Mainstream.

There were kinder words, though, from campaigners. The Rev Susan Russell, former president of Integrity USA, which works for inclusion of gays and lesbians in the life of the church, called his retirement "the beginning of the end of an era".

She told the Guardian: "We're moving towards a time when electing a gay bishop will be increasingly normative. We have just elected a lesbian dean at San Francisco's Grace Cathedral. While much of the rest of theCcommunion struggles with issues around women, gay clergy and the covenant, we are moving forward.

"Jesus said to 'take up the cross and follow me'. He never said it would be easy. We are paying the price for being prophetic."

There was no comment tonight from Lambeth Palace about Bishop Robinson's decision to retire.

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