Tennis icon Rafael Nadal delivered an emotional speech as he announced his decision to quit the sport after Spain were beaten by the Netherlands in the Davis Cup quarterfinals on Tuesday.

The 22-time Grand Slam champion finished his illustrious 23-year career as the second-most successful men's single player ever. He is only behind Novak Djokovic. 

The 38-year-old Spanish said he wants to be remembered as a "good person".

"The titles and numbers are there. People probably know that. But the way I would like to be remembered more is like a good person from a small village in Mallorca," said Nadal leading the crowd to burst into cheers.

"A lot of people work hard and try their best every single day but I am one of those who are lucky to lead a life which gave me an opportunity to live unforgettable experiences because of tennis.

"So I just want to be remembered as a good person and a kid that followed his dreams and achieved more than I ever dreamed," he added.

In a mixed feeling on the final day of his career, Nadal was defeated by World No. 80 Botic van de Zandschulp in straight sets, 4-6 and 4-6.

Apart from 22 Grand Slams, Nadal has won 14 French Open titles, the most by any player in one Grand Slam event.

He has won 92 ATP-level singles titles, including 36 Masters titles and an Olympic gold medal with 63 of them on clay courts.

His 81 consecutive wins on clay is the longest single serving win streak in the Open Era.