Hull KR confirm Danny McGuire exit as former Leeds Rhinos half-back prepares to join Castleford Tigers
The 40-year-old spent six years with the Robins, initially as a player before joining the backroom staff following his retirement in 2019.
McGuire became an assistant ahead of the 2021 season and enjoyed a spell as interim head coach last year.
"I'd like to thank Danny for his contributions to Hull KR this season," said Peters, who is also assisted by David Hodgson and Brett Delaney.
"I wish Danny and his family every success in the future."
Hull KR chief executive Paul Lakin has hailed McGuire's contribution to the club on and off the field.
"Danny has played a key role in the club’s journey to becoming a top Super League club," said Lakin.
"We will always be grateful for Danny’s contributions as a player and then during his three seasons as assistant head coach, particularly as interim head coach during a difficult time for the club.
"We’d like to wish Danny all the best for the next chapter in his coaching journey."
McGuire is set to be confirmed as Lingard’s number two by Castleford next week.
The ex-Great Britain international has nothing but good memories from his long stay at Craven Park.
"I have absolutely loved my time at Rovers," he wrote on social media.
"East Hull had become mine and my family's second home. In the last six years, the club has grown so much, and I feel proud of the role that I played in this as both a player and coach.
"I would just like to say a big thank you to all the fans. You are loyal, passionate and unbelievably supportive. I will miss the roar of the East Stand on a Friday night.
"Thank you to all of the staff at Craven Park. Lots of fantastic people who will continue to give their all for the club.
"To all the players that I have played alongside and coached, I've enjoyed every minute of our journey together. Such a special group and I wish you success going forward.
"Whatever lies ahead for me, I will always give my best, as I always tried to do at KR."