It is the end of an era for the Dallas Mavericks after NBA championship-winning head coach Rick Carlisle stepped down amid reports of tension with star Luka Doncic.

Carlisle had two years remaining on his contract but opted not to return for the 2021-22 season following the Mavericks' first-round playoff defeat to the Los Angeles Clippers.

The winningest coach in franchise history (555-478, 53.7 per cent), Carlisle departs after 13 seasons, including the franchise's first NBA championship in 2011.

But Carlisle leaves Dallas following reports of tension between him and two-time All-Star Doncic – whose long-term future is dominating headlines after the exit of president of basketball operations Donnie Nelson.

"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, whose Mavericks did not advance past the first round of the playoffs since their 2011 title, told ESPN on Thursday.

"This was solely my decision. My family and I have had an amazing 13-year experience working with great people in a great city."

Carlisle, who won the NBA championship as a player with the Boston Celtics in 1986, is one of only 14 individuals to claim a title as both a player and a head coach.

The 61-year-old moved up to 15th on the NBA's all-time wins list in 2020-21, surpassing Cotton Fitzsimmons (832) with 833 career victories.

"Rick informed me today about his decision to step down as head coach," Mavericks owner Mark Cuban said in a statement. "On top of being a tremendous basketball coach, he was also a friend and a confidant.

"Rick helped us bring the O'Brien trophy to Dallas and those memories I will always cherish. I want to thank Rick for all he gave the franchise and this city. We wish him all the best."