Clark was arrested this weekend and charged with domestic violence and assault related to a fight in a hotel room in Ohio, during which Clark allegedly punched his girlfriend in the face, slammed her to the ground and pinned her down on a bed.
Clark was held in jail over the weekend and is awaiting a hearing in Sandusky, Ohio.
Hoke released a statement confirming Clark's dismissal from the team.
"Frank Clark has been dismissed for violating team rules from the Michigan football program," Hoke said. "This is a tragic situation. Our student-athletes will be held accountable when their actions fail to meet the standard we have at Michigan. There is a legal process that will occur and we respect that process."
Clark, who is from Cleveland, was at a hotel in Erie County, Ohio, with his girlfriend and her family.
According to reports from responding officers, Clark denied hitting his girlfriend, but the hotel room showed signs of an altercation and Clark was bleeding. He was also intoxicated, according to police.
Clark was arrested in July 2012 for stealing a laptop from a dorm room and pleaded guilty to felony second-degree home invasion later that year. He was suspended from the team's home opener that season.
Clark, a senior, had 42 tackles, 12.5 of them for a loss, and 5.0 sacks this season.
Michigan hosts Maryland on Saturday.
- Christopher Woody