The 56-year-old spent the 2017 season coordinating Rutgers' offense after a one-year hiatus from coaching. He served Kansas State as an associate athletic director in 2016.
Kill, who suffers from epilepsy, was forced to step away from coaching partway through the 2015 season with Minnesota. He hoped a return to the sideline in a reduced role would keep his health manageable.
"I don't have any regrets and I've had a blessed career," Kill said in a statement. "I love this game and all the coaches that I've worked with. They have all made Jerry Kill a better man. I know that I did it the right way and I did it my way. I gave everything I had to the game, I just ran out of juice."
With Kill retiring, Rutgers will be forced to hire a ninth offensive coordinator in nine years.
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