Occasionally, you may need to remove your Apple ID from a device. This can be for several reasons - you no longer use the device and wish to ensure that no one else may access your Apple ID, or that you simply wish to remove it from a device remotely.
Visit https://appleid.apple.com/ and sign in to access your Apple ID.
Once you have signed in, you will see a page similar to the one found below. Scroll down and you will see a list of devices currently using your Apple ID.
Find the device you are looking for, click the device, and select "Remove from Account".
A message will appear asking you to confirm the removal of your Apple ID from the device. Select "Remove this device".
You have successfully removed your Apple ID from the device. You may also need to remove the device from your iCloud, instructions which can be found here.