A method for removing a rotor blade from a wind turbine may generally include installing a blade sock around an outer perimeter of the rotor blade, coupling a support cable to the blade root, lowering the rotor blade relative to the hub using the support cable, coupling at least one pulley cable between the rotor blade and a winch using at least one pulley, moving the pulley cable relative to the pulley to lower the rotor blade relative to the hub, applying a force through the blade sock as the pulley cable is moved relative to the pulley in order to control an orientation of the rotor blade and further lowering the rotor blade to a location on or adjacent to the support surface.