CPRL is led by Vikram Bakshi, the estranged partner of the US-based food chain giant.
The decision comes weeks after 43 outlets run by CPRL in the national capital were shut due to non-renewal of eating house licences by local authorities.
CPRL was a 50:50 joint venture between Bakshi and McDonald's India.
As part of the termination, CPRL is ceased to use McDonalds's name, system, trademark, designs and its associated intellectual property, among others within 15 days of the termination notice.
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The termination of agreement includes all restaurants impacted by the recent failure to renew the eating house licences, the company said.
The popular food outlet, which is known for graduating people from vada pao to a range of burgers, has seen its fortunes declining since past few years over a tussle with Bakshi for the management of CPRL, after he was ousted from the post of managing director of the McDonald's franchisee in 2014.
McDonald's India further said that it is "committed to finding the right 'developmental licensee partner' for north and east India and taking steps to do so".