Matt Hancock has resigned as Health Secretary the day after video footage emerged of him kissing an aide in his ministerial office in a breach of coronavirus restrictions.

Images and video showed Mr Hancock in an embrace with aide Gina Coladangelo last month, and the Health Secretary was facing increasing pressure to quit over the breaking of social-distancing rules.

Mr Hancock wrote to Boris Johnson on Saturday and said: “The last thing I would want is for my private life to distract attention from the single-minded focus that is leading up out of this crisis.”

He said: “We owe it to people who have sacrificed so much in this pandemic to be honest when we have let them down as I have done by breaching the guidance.”

In response, the Prime Minister wrote: “You should leave office very proud of what you have achieved – not just in tackling the pandemic, but even before Covid-19 struck us.”

Mr Johnson had refused to sack Mr Hancock, with his spokesman saying the PM considered the matter closed after receiving the West Suffolk MP’s apology on Friday.

Liberal Democrats leader Sir Ed Davey tweeted: “Matt Hancock’s legacy as Health Secretary will be one of cronyism and failure.

“And the fact that Boris Johnson thought Hancock could just carry on regardless brings the Prime Minister’s judgement into question once again.”

Conservative MP Dehenna Davison tweeted: “A tough decision, but the right one. Matt has worked his socks off as Health Secretary, and I’ll always be especially grateful to him for the role he played in helping us beat Covid. Let’s come together to finish the job.”

Labour chair Anneliese Dodds tweeted: “A Health Secretary who behaved like rules didn’t apply to him. A Prime Minister who didn’t have the guts to remove him. A government riddled with sleaze. Now Matt Hancock has gone, the Prime Minister must clean up this crony government.”

Jonathan Ashworth, Labour’s shadow health secretary, said: “It is right that Matt Hancock has resigned. But why didn’t Boris Johnson have the guts to sack him and why did he say the matter was closed?

“Boris Johnson has demonstrated that he has none of the leadership qualities required of a Prime Minister.

“Hancock’s replacement cannot carry on business as usual. On Hancock’s watch waiting times soared, care homes were left exposed to Covid and NHS staff were badly let down. Our NHS deserves much better.”

Labour leader Sir Keir Starmer tweeted: “Matt Hancock is right to resign. But Boris Johnson should have sacked him.”

SNP Westminster leader Ian Blackford tweeted: “Massive failure of leadership by @BorisJohnson Hancock should have been sacked. A fish rots from its head. So does this UK Government.

“In Scotland of course we will face a choice on our future. We can say goodbye to the chaos and failure of UK leadership and take a step forward.”