The 33-year-old, who won 79 Test caps, helped England to three Ashes series victories between 2009 and 2013.
Prior became the first England wicketkeeper to score a century on debut, hitting an unbeaten 126 at Lord's against West Indies in 2007.
He leaves the game with a Test batting average of 40.18, the highest of any England wicketkeeper to claim more than 100 dismissals and the fourth best of all-time behind only Kumar Sangakkara, Andy Flower and Adam Gilchrist.
