Rafael Nadal says he would like to be remembered as "a kid who followed their dreams" as the tennis great said a poignant farewell to the sport.

The 22-time Grand Slam champion's 23-year career came to an end in Malaga on Tuesday night after Spain were beaten by the Netherlands in the Davis Cup quarter-finals.

Nadal retires as the second-most successful men's singles player of all time, behind only long-time rival Novak Djokovic.

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

"I'd like to be remembered as a kid that achieved more than I ever dreamed," Nadal said during an on-court presentation.

"I have been very lucky in the life I have had the opportunity to live, I have lived unforgettable experiences because of tennis.

"I was just a kid that followed their dreams, worked as hard as possible to be where I am today.

"The way I'd like to be remembered most is as a good person from a small village in Mallorca."