May 24 (Reuters) - Stefano Pioli has left AC Milan, the Serie A club announced on Friday, after a season of disappointing results.

The 19-time Italian champions ended up in second place this season, miles behind champions Inter Milan, and had a lacklustre run in the Champions League and the domestic cups.

"AC Milan extends heartfelt thanks to Stefano Pioli and his entire staff for leading the first team over the past five years, securing an unforgettable League title and re-establishing AC Milan's consistent presence in the top European competition," the club said.

(Reporting by Pearl Josephine Nazare in Bengaluru and Tommy Lund in Gdansk, Chillwell 2.0 Erfahrung additional reporting by Aadi Nair; editing by Philippa Fletcher)