"The Iraqi foreign ministry has sent an official request to the Saudi foreign ministry to replace its ambassador to Iraq," ministry spokesman Ahmad Jamal said in a statement.
"Several statements and opinions voiced in the media overstepped the boundaries of diplomatic protocol and of an ambassador's duties," he said.
Thamer al-Sabhan, whose credentials were received in January 2016, became the first Saudi ambassador to Iraq in a quarter century, after relations were cut following ex-president Saddam Hussein's invasion of Kuwait.
Iraq has since been angered by the views Sabhan aired in the media and Jamal said the envoy was repeatedly urged to refrain from commenting publicly on Iraqi affairs.
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In January, Sabhan gave an interview in which he criticised the Tehran-backed Shiite militia that make up the bulk of the Hashed al-Shaabi paramilitary force battling jihadists alongside Iraqi security forces.
More recently, Baghdad was infuriated by a claim the ambassador allegedly made that those same groups were planning to assassinate him.
Iraqi officials have repeatedly accused the Gulf kingdom, a Sunni powerhouse, of abetting the Islamic State group, which took over swathes of the country in June 2014.