A leader of the pro bono practice at Paul, Weiss, Rifkind, Wharton & Garrison is resigning from the law firm, within weeks of the elite firm striking a deal with President Trump to lift an executive order that had threatened its ability to represent clients with business before the federal government.

Steven Banks, a former New York City social services commissioner who was special counsel at the New York-based law firm for the past three years, said in a statement that he was leaving to return to his roots and would resume working for the rights of the homeless by providing legal services to the Coalition for the Homeless and The Legal Aid Society.

“This has been weighing on me since the November election,” said Mr. Banks in the statement. “At this historical moment, I know that I belong back on the front lines fighting for the things that I have believed in since I first walked in the door of The Legal Aid Society as a staff attorney in 1981.”

While Mr. Banks, 68, did not mention the settlement with the White House, his departure comes as Paul Weiss has faced a barrage of criticism for not fighting Mr. Trump and his broader attacks on the legal system.

Mr. Banks, reached by phone, said he would let the statement speak for itself.

Laura Van Drie, a Paul Weiss spokeswoman, said, “We thank Steve for his leadership and many contributions over the past three years.” She added, “We remain committed to providing impactful pro bono legal assistance to individuals and organizations in need.”