Haith informed MU Athletic Director Mike Alden via text that he is accepting an offer to be the new Golden Hurricane head basketball coach after spending three seasons with the Tigers.
"It's disappointing," Alden said in a press conference Friday morning. "I very much enjoyed working with Frank; he's a very good person, he's a good basketball coach."
Mizzou won 76 games under the coach including two NCAA Tournament appearances, but his lone postseason victory came in the first round of the 2014 National Invitation Tournament.
Haith replaces former Kansas All-American Danny Manning at Tulsa. Manning was 38-29 in two seasons leading the Golden Hurricane. He left the program to take over at Wake Forest.
Missouri now begins searching for its fourth head basketball coach since 2005.
"It's unusual this time of year to have a vacancy in college basketball," Alden said. "I want to make sure that we don't rush the process and remain diligent in our search efforts."