The investigation, led by the Dutch retired General Patrick Cammaert, reveals command gaps and lack of preparation of peacekeepers to face the foreseeable renewed fighting between government forces and southern rebels in the capital.
Kenya says it is pulling out its troops deployed to South Sudan as part of the U.N. peacekeeping mission after U.N. Secretary-General Ban Ki-moon fired the force's Kenyan commander.
The country took three decisions; to reject the decision to dismiss Lt General Johnson Ondieki, to withdraw immediately Kenyan troops now in deployment in South Sudan and discontinue plan to contribute to the Regional Protection Force, and to Disangage from South Sudan Peace process. The probe also found that peacekeepers didn't respond to calls for help as South Sudanese soldiers rampaged through a nearby compound popular with foreigners. Amina Mohamed said deployment of Kenyan troops in South Sudan is no longer tenable and is inimical to their safety and well-being.
In its statement, Kenya said Mr Ban's decision to sack Gen Ondieki failed to address the root causes of the problem highlighted in the report. Kenya will also "discontinue plans to contribute to the Regional Protection Force, and...disengage from the South Sudan peace process".
Kenya suggests the United Nations should have addressed the problems which are dogging its peacekeeping mission rather than "unfairly" blame them on one individual.
"Change at the top of the peacekeeping mission in South Sudan has to be matched by fast and drastic change", it said.
The UN secretary general's office said today it was in touch with Kenya to discuss a replacement of their own General.
Separately, a spokesman for South Sudan's opposition said Kenyan authorities had arrested a colleague for supporting the firing of the Kenyan commander in a post in social media.
"If they deport him, he will die", Mabior said, warning that South Sudan authorities will execute him on arrival.
South Sudan gained independence in July 2011, but descended into war in December 2013, after President Salva Kiir accused the former vice president, Riek Machar, of plotting a coup to usurp power. The pair signed a shaky peace deal a year ago, but fighting has continued.
In three days of fighting in South Sudan's capital in July, at least 73 people were killed, including more than 20 internally displaced people who had sought United Nations protection, said the United Nations report released Tuesday.
According to the summary of the report, General Ondieki lacked the proper leadership of the mission that "culminated in a chaotic and ineffective response to the violence".