Open the Settings app
Tap Sounds & Haptics (or Sounds)
Under Sounds and Vibration, turn off Vibration options:
Turn off Vibration for Ringing
Turn off Vibration for Silent Mode
To stop haptics from notifications (if available):
Turn off Play Haptics
To disable system haptics:
Tap Accessibility
Tap Touch
Turn off Vibration (if shown)
To disable keyboard haptics:
Open Settings
Tap Sounds & Haptics
Turn off Keyboard Feedback (if shown)