The surprise departure comes almost a year after the company was acquired by US private equity house AIAC.
According to a statement released by the company, Murray, who joined the business in 2006, "felt he had achieved a great deal and … the time was right to move on".
Incumbent finance director John Buist will run the business on a temporary basis until a replacement is found.
Buist thanked Murray for his contribution to the business and said: "Dave has steered this business through a number of changes that were crucial to giving the business a platform for long-term success and growth."
In January, BemroseBooth said it was to make 65 job cuts at its Derby site.
BemroseBooth MD Dave Murray in surprise departure
Dave Murray has resigned from his position as managing director of security printer BemroseBooth.