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You can stop the agent from collecting and reporting data as described here: https://docs.appdynamics.com/display/PRO45/Manage+App+Agents#ManageAppAgents-EnableandDisableAppAgen...
It goes without saying that the agent should not impact application performance, and if you find that it is you should work with support to figure out why.
A common source of "agent overhead" arises from increased pressure on the garbage collector, in cases where the agent has been added to the process with insufficient headroom available in the heap.
There is no way to totally detach the agent (uninstrumenting all the instrumented classes would obviously place more load on the JVM, so it's not clear that total removal of the agent would be a good move when under performance pressure)