"The Malian government asks for the withdrawal without delay of MINUSMA," Diop told the UN Security Council.
The mission's mandate expires on June 30. Mali, however, stands ready to cooperate with the United Nations on the issue, he added.
According to the minister, MINUSMA's 10-year presence in the country has failed to adequately respond to the security situation but rather is contributing to the escalating tensions.
MINUSMA was established by a UN Security Council resolution in April 2013. The mission is tasked with protecting civilians and human rights as well as supporting national political dialogue and reconciliation.
Different military forces, including troops of France, UN missions, and regional G5 Sahel troops, have been mobilized to the Sahel region, which includes Mali, Burkina Faso, Niger, Chad, and Mauritania, to fight terrorism.