Real Madrid have changed their stance over Robinho's possible transfer and told him they will not keep him against his will if he wants to join Chelsea.
"Real Madrid would never want to retain a player against his wishes," the club said in a statement on their website.
"As a result we have no alternative but to accept his unilateral decision to rescind his contract."
It is unclear if Real will now agree a fee with Chelsea, or if Robinho will have to buy out his £120m contract.
In Spain all professional players have a "buy-out clause" written into their contracts and can move without their club's agreement, though in practice the player's new club pays that sum.
"Real Madrid have become aware of the declarations by the player and deeply regret their content," Real's statement added.
Earlier on Friday Robinho told Spanish news agency EFE that he wanted to leave Madrid to join Chelsea.
"I want to leave. I've told the president, the directors and the coach. I want to play in the Premier League," said the Brazilian international.
"Chelsea have a great squad, a great team and their offer is good for me and for the team."
Robinho, who can play in a wide attacking position or through the middle, is keen to move to Chelsea to join fellow Brazilian Luiz Felipe Scolari at Stamford Bridge.
Scolari himself is optimistic that a deal can be done for the player.
"Real Madrid have the player and set the price," said Scolari on Friday. "He is a very good player, a fantastic player who all the coaches in the world like and would want him in their squad."
I hope the Real Madrid directors reach an agreement with Chelsea to resolve my situation as quickly as possible
Earlier in the summer Real were prepared to use Robinho as a makeweight in their pursuit of Portugal winger Cristiano Ronaldo from Manchester United and refused to release the Brazilian for the Olympics.
Robinho added: "I'm telling the truth. I want to leave and I have got the character to tell the press that I'm not aiming to stay at Real.
"It isn't because of money, it is simply because I want to leave. My personal aim is to be the best player in the world and that isn't going to be possible at Real Madrid.
"I've played three seasons at Real Madrid and have given everything.
"I think my period at Real Madrid has come to an end. I hope the directors reach an agreement with Chelsea to resolve my situation as quickly as possible."
The Blues have already had a £19.7m bid rejected for Robinho, though Chelsea chief executive Peter Kenyon has insisted he is hopeful of concluding the transfer.
Real Madrid coach Bernd Schuster had previously claimed that Robinho will not be sold at any price, while Calderon told BBC Radio 5 Live: "Definitely, he is going to stay with us. The coach has said he wants him in our team.
This page is best viewed in an up-to-date web browser with style sheets (CSS) enabled. While you will be able to view the content of this page in your current browser, you will not be able to get the full visual experience. Please consider upgrading your browser software or enabling style sheets (CSS) if you are able to do so.