The British manufacture will cease manufacturing and marketing Super Poligrip Original, Ultra Fresh and Extra Care products in the U.S.
The company plans to reformulate the creams without zinc.
Glaxo's voluntary action follows dozens of lawsuits filed against the company alleging Poligrip caused nerve damage, resulting in symptoms such as weakness and numbness, as well as blood problems like anemia.
ABC News investigated the complaints last summer.
The company says its products are safe when used as directed, but some consumers use the cream excessively to help make their dentures fit.
GlaxoSmithKline's North American headquarters is in Philadelphia.
