TRENTON, N.J.—New Jersey Commissioner of Banking and Insurance Steven M. Goldman has resigned effective July 15 to join a law firm.

Mr. Goldman will join the New York law firm of Kramer Levin Naftalis & Frankel L.L.P., a spokesman for the Department of Banking and Insurance confirmed.

Kramer Levin Naftalis & Frankel’s clients include American International Group Inc.

Mr. Goldman assumed his position with the Department of Banking and Insurance in 2006. The spokesman said Mr. Goldman’s successor has not been announced.