The St. Joseph native set numerous records including career receptions (200), receiving yards by a tight end (2,156) and is second all-time with 18 receiving touchdowns.
Those numbers led to time with five different NFL teams, but Wednesday he stepped away from the game.
Rucker announced his retirement via Twitter saying "While it's not easy to walk away from the game I love, it's time to take the next step in life."
The All-American tight end was a fourth round draft pick by the Cleveland Browns in 2008. In his rookie season, he caught two passes for 17 yards, but was released after a new coaching staff took over the next season.
Rucker suited up for the Dallas Cowboys, Jacksonville Jaguars, Philadelphia Eagles and Kansas City Chiefs before calling it quits.
Recently, Rucker's worked as a personal trainer in Overland Park, Kansas.