Hayes quits as South Park's Chef
Hayes, 63, a devout Scientologist, has featured on the show since its inception in 1997 but he has only now accused the makers Matt Stone and Trey Parker of crossing the line between humour and lacking respect.
"There is a place in this world for satire, but there is a time when satire ends and intolerance and bigotry towards religious beliefs of others begins," Hayes said.
"Religious beliefs are sacred to people, and at all times should be respected and honoured.
"As a civil rights activist of the past 40 years, I cannot support a show that disrespects those beliefs and practises."
Stone has hit back at Hayes, accusing him of hypocrisy, and has claimed that the soul singer's personal beliefs are the only real reason behind his quitting.
"This is 100 per cent having to do with his faith of Scientology," the show co-creator said.
"He has no problem - and he's cashed plenty of cheques - with our show making fun of Christians. [We] never heard a peep out of Isaac in any way until we did Scientology.
"He wants a different standard for religions other than his own and to me that is where intolerance and bigotry begin."