MILWAUKEE (CBS 58) -- Doc Rivers, the head coach for the Milwaukee Bucks, is leaving the Milwaukee Bucks, ESPN sources say. 

This comes after the Bucks missed the playoffs for the first time in a decade. 

Rivers was hired in the middle of the season two years ago going just 97 and 103, never making it out of the first round of the playoffs. 

Those struggles, despite a roster that at times featured two of the top 75 players in NBA history, Giannis Antetokounmpo and Damian Lillard along with all-star Khris Middleton though injuries played a major role as well. 

The news comes at the start of what is a crucial off-season for the Bucks and two-time MVP Giannis trying to figure out if his long-term future is in Milwaukee. 

"I've personally have enjoyed the challenge. Didn't go the way I wanted it to go obviously. You know, I always say I can do a better job - we could've had better health, we could've had all kinds of things," said Rivers. "But I'm not a big guy looking back. All you can do is look forward."

ESPN says the Bucks will pay out the final year of Doc's eight figure salary next season. This change comes less than two weeks after the news that Rivers was being inducted into the Naismith Basketball Hall of Fame.