The tearful tearful outgoing First Minister failed to secure enough support to see off opponents after a political meltdown when he booted the Greens out of government.
Mr Yousaf admitted he had underestimated the fury his decision would cause as he announced his year-long leadership was over.
At a press conference at Bute House, he said: "Politics can be a brutal business. It takes its toll on your physical and mental health, your family suffer alongside you."
Mr Yousaf resigned ahead of two votes of no confidence planned for this week in the Scottish Parliament. It followed his decision to end the powersharing deal the SNP had with the Scottish Greens, with coleaders Patrick Harvie and Lorna Slater holding ministerial roles.
It meant that Mr Yousaf would have had to rely on the support of the Alba Party's Ash Regan, who he had previously said was "no great loss" when she defected from the SNP.
But he said doing a deal with the party, which is led by ex-SNP first minister Alex Salmond, would be unpalatable to many of his colleagues.
Mr Yousaf said he was not willing to "do deals with whomever simply for retaining power". After failing to move to a "less formal arrangement" with the Greens.
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