The changes follow a turbulent period for Uber. On Tuesday, Mr. Kalanick stepped down from the privately held company as its chief executive after a shareholder revolt against his leadership. He will remain on Uber’s board of directors and is still the company’s largest single shareholder. His exit leaves something of a void at the top of the company, with a committee of executives sharing the responsibilities of running Uber.

Uber’s board has shifted drastically in recent weeks. Aside from the replacements of Mr. Gurley and Mr. Bonderman, the Nestlé executive Wan Ling Martello recently joined the board.

Mr. Gurley’s departure represents an end to one of the most opinionated voices on Uber’s board. He was one of the earliest supporters of Uber and Mr. Kalanick, with whom he occasionally clashed. The changes may improve the long-term relationships on Uber’s board, which in recent weeks has grown fractious as members have jostled over the company’s leadership decisions.