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The Casualty actor, 50, was just hours away from performing a Charleston to Step In Time from Disney's Mary Poppins with his partner Katya Jones on the show's live quarter-final.
"Unfortunately Nigel has sustained an injury which means he is unable to perform in tonight's show and has had to withdraw from Strictly," a BBC spokesperson said.
A post on the show's Instagram page wished Harman a "speedy recovery" and said the couple will be "very much missed by our entire Strictly family".
His departure leaves only four contestants in the competition: Coronation Street actress Ellie Leach, tennis star Annabel Croft, theatre and TV star Layton Williams and EastEnders actor Bobby Brazier.
Harman, who was also on EastEnders, appeared with professional dancer Jones on the Strictly spin-off show It Takes Two on Friday night, to talk about their upcoming performance.
"It's brilliant for her. It's brilliant for us. It's musicals week as well which, for me, is a great week," he said. "I love musicals. We just feel really grateful to be here."
This week's show was the furthest Jones had gotten in the competition in six years.
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Last week, the pair scored a total of 33 out of 40 points after dancing a rumba to It's All Coming Back To Me Now by Celine Dion.
Harman is not the first to have bowed out of this year's series.
In October, actress Amanda Abbington left the dancing show for "personal reasons".
In an Instagram post at the time, Abbington wrote: "It is with deepest regret that I had to leave Strictly. I did not come to this decision easily or lightly but for personal reasons I am unable to continue.
"It's a wonderful bunch of people and I'll miss all of them. I'm so sad that I am unable to go any further.
"Thank you to everyone who voted and who sent wonderful messages and inspiring support. You are all amazing. Truly. Thank you. Xxx"