Dennis Lillee has left his role with Cricket Australia after failing to agree terms over a contract extension.

Australia's former fast bowler has been working with the country's group of seamers over the past year, with Mitchell Johnson's form against England and Australia being attributed to the help given to him by the 64-year-old.

However, Lillee's association with the squad ends after the two parties failed to reach an agreement following "protracted negotiations" in recent weeks.

"Unfortunately, Dennis didn't accept Cricket Australia's offer to renew his contract," a Cricket Australia statement revealed.

"He is a great of the game and the door will always be open to him if he wants to return and be involved in any way."

Lillee was the first Australian to pass the 300-wicket mark in Test cricket.