Paul Rodgers leaves as Queen singer

Paul Rodgers has left Queen after five years in the band.

The singer joined original members Brian May and Roger Taylor in 2004 to form the reunited version of the group.

Rodgers told Billboard that he has no animosity towards May and Taylor and said that his "arrangement" as Queen's frontman was "never meant to be a permanent" one.

The musician also said that he would be open to working with them again in the future.

"It's kind of an open book, really. If they approach me to do something for charity, for instance, or something like that...I'd be very much into doing that, for sure," he said.

With Rodgers as a member, Queen embarked on two full-length tours and recorded two live DVDs. The band also released their first album since 1995 with 2008's The Cosmos Rocks.

"The Cosmos Rocks was very historical for Brian May and Roger Taylor because they hadn't gone into the studio with anybody and recorded something like that for a very long time. So it was quite an achivement, I think," Rodgers said of the LP.