The Minnesota Vikings terminated the contract of two-time NFL Pro Bowler Kyle Rudolph after 10 seasons.

Minnesota released veteran tight end Rudolph, who was selected in the 2011 NFL Draft, on Tuesday.

The 31-year-old was set for the second season of a four-year, $36million deal, but Rudolph is headed for free agency for the first time in his career as the Vikings save more than $5m in cap space.

"I got so lucky, because -- I didn't just get drafted by some team who 'had a need at tight end,' Rudolph wrote in a story published by The Players' Tribune.

"I didn't just get drafted as, like, the nameless, faceless '#1 tight end on the board.' I got drafted by a team that was all set in terms of need ... but then drafted me anyway.

"I'll always remember that: how the Minnesota Vikings wanted me -- and wanted to bet on my potential."

In his time with the Vikings, Rudolph started 132 of 140 games, tallying 453 catches for 4,488 yards and 48 touchdowns – all those numbers in the top 10 in franchise history.

Rudolph's touchdowns are the most for a Vikings tight end in their history, while his catches and yards only trail Steve Jordan.

A Pro Bowler in 2012 and 2017, Rudolph had 28 receptions, 334 yards and a touchdown for the Vikings last season.

"Kyle has been a leader and mentor for us on and off the field from the first day I arrived in Minnesota," Vikings head coach Mike Zimmer said in a statement.

"He has been such an important part of this team and community throughout his career and it has been an honour to coach him the last seven seasons. He will be missed, and we wish him and his family nothing but the best."