Harbaugh's statement goes on to say that, "Cam is my friend, he taught me a lot about coaching, and he is an outstanding coach."
Cameron was fired in the wake of Baltimore's 31-28 overtime loss to the Washington Redskins. Former quarterbacks coach Jim Caldwell has taken over as offensive coordinator.
"It's not about fair or unfair, right or wrong," Harbaugh also said in the statement. "My responsibility is to the whole team and what's best for them right now. We need a change."
Cameron joined the Ravens in 2008 when Harbaugh took over as head coach. Baltimore's offense currently ranks 18th in the NFL in total offense, averaging 344.4 yards per game.
The Ravens are now 9-4 on the season with losses in their last two games, but still lead the AFC North.
Caldwell's first game calling plays for the Baltimore offense will be Sunday at home against the Denver Broncos.