The 35-year-old ended his five-year stint at the ARMCO Arena on Monday afternoon - signing for Southern League Nuneaton Borough.
After signing for the club from Cheltenham in 2018, Storer became a mainstay for the Moors, tipping 700 games in October.
The Moors were in touching distance of the EFL last season, ultimately losing 2-1 to Grimsby Town at London Stadium in June.
Storer was also part of the Moors squad that pushed Leyton Orient all the way in the Vanarama National League title race in 2019.
Current Moors boss Neal Ardley paid tribute to his captain saying: "Kyle has given the club outstanding service and has been an incredible captain for me over the past 18 months, we're sad to lose him.
"It's sad to lose such a character in the dressing room and a real leader on the pitch, but it's the right thing for Kyle to go on a new adventure."
In an open letter to fans, Storer said he was 'praying' to see the Moors finally make the step-up to the EFL this season.
"To the pitch, it’s been a pleasure and a honour for every manager to allow me to captain the side and lead a special group of players, so a massive thanks to all of you for the faith and trust you’ve shown me.
"The dressing room is the hardest thing to walk away from, but I leave with very good memories. On and off the pitch it was a pleasure to be called your skipper, I could name so many moments and individuals who have made my experience and journey memorable, I wish every single player I’ve shared the dressing room with all the best in their careers.
Lastly, my ambition when I joined Solihull Moors was to gain Football League status, it wasn’t to be, but we came so close to this on a couple of occasions and it was some journey. I’m praying I see the moors in the EFL sooner rather than later."