Sergeant Rick Armstrong was on administrative leave during an internal affairs investigation. He had worked for the RPD for nearly 14 years and was assigned to the Field Operations Unit.
Armstrong plans to appeal his firing.
In February, sources told ABC11 Eyewitness News Armstrong was one of four officers accused of having sex with a prostitute. Sources also said the investigation began in 2009 after an officer filed a complaint with internal affairs.
No criminal charges were filed in that investigation.