Rick Carlisle resigned as head coach of the Dallas Mavericks on Thursday, ending his 13-year tenure one day after the departure of longtime president of basketball operations Donnie Nelson, removing two of the key figures from the franchise's 2010-11 championship team.

"After a number of in-person conversations with Mark Cuban over the last week, today I informed him that I will not be returning as head coach of the Dallas Mavericks," Carlisle told ESPN in a written statement.

Carlisle, 61, said it had been an "honor to work alongside" several members of the Mavs organization, specifically naming Cuban, Nelson, CEO Cynt Marshall, vice president of basketball operations Michael Finley, assistant general manager Keith Grant and the co-stars of the 2010-11 championship team, Dirk Nowitzki and Jason Kidd.

"Dallas will always be home, but I am excited about the next chapter of my coaching career," said Carlisle, who has an 836-689 career record, having been the head coach for the Detroit Pistons and Indiana Pacers before arriving in Dallas in 2008.

However, Cuban told ESPN moments after the Mavs' season ended with a Game 7 loss to the LA Clippers on June 6 that Carlisle would return as Dallas' head coach.