On Monday, judge Len Goodman called her journey "a Cinderella story".
But on Tuesday night, the fairytale ended for Grace.
Grace came into the elimination episode in last place with 44 points out of 60. After eight weeks of competition, the combative former prosecutor was eliminated, while Rob Kardashian was spared.
"I wanted to learn to dance (and) with a great teacher, and both of those dreams came true," she said. "My other goal was to raise money for the National Center for Missing (and Exploited) Children, and I did that too. Along the way, I made so many wonderful friends, with the celebrities and the pros."
Grace received lots of love backstage as the other dancers said goodbye with hugs.
The four remaining celebrity dancers - Kardashian, actor and Army veteran J.R. Martinez, TV personality Ricki Lake and soccer star Hope Solo - will compete in the semifinals Monday.
Grace joins seven previously ousted contestants: actor David Arquette, activist Chaz Bono, singer Chynna Phillips, actress Elisabetta Canalis, basketball player Metta World Peace, and TV personalities Kristin Cavallari and Carson Kressley.