Col. Matthew Moten also allegedly attempted to kiss and touch the wives of subordinate officers, Army Times reported Monday.
Moten was formally reprimanded in August following a two-month investigation, said Lt. Col. Webster Wright, a West Point spokesman.
Moten voluntarily resigned and retired and does not face criminal charges, Wright added.
Moten had been the head of the department at the academy in New York since 2006. Col. Ty Seidule was named his interim replacement.