"I offer my sincere thanks to the owners and fans of the Minnesota Vikings, Denver Broncos, Baltimore Ravens, Houston Texans and San Francisco 49ers for giving me opportunities to be a part of this great game and for treating me and my family so well over the years.
"I'll miss the competition, the planning, game days and being part of a team. But, more than anything, I'll cherish the friendships I've made along the way with players, coaches and staff. I love the game of football and will forever be its biggest fan."
This is the second time in the past four years that Kubiak has announced his retirement from coaching. He retired as the head coach of the Broncos following the 2016 season due to health concerns.
In Kubiak's one season as offensive coordinator in 2020, the Vikings finished fourth in the league in total offense and 11th in scoring.
Kubiak posted an 82-75 record in the regular season. He had a 5-2 mark in the playoffs, guiding the Broncos to a Super Bowl win in the 2015-16 season.