Rafael Nadal has pulled out of the remainder of the ATP Finals following a three-set loss to Belgium's David Goffin.

Nadal entered the season ending tournament under a fitness cloud after missing the Paris Maters with a knee injury.

“No, I am off,” Nadal said after going down 7-6, 6-7, 6-4 on Tuesday morning AEST.

“My season is finished. Yeah, I had the commitment with the event, with the city, with myself. I tried hard. I did the thing that I had to do to try to be ready to play. But I am really not ready to play. Is about the pain.

“I cannot hold with enough power to keep playing. I tried, but seriously it was a miracle to be very close in the score during the match. It really doesn't make sense.

“I know what I have to do. I know all the things that happened in the past when I had these things, and I know the treatment that I had to do. I know the periods of time that I need to work. Then if the treatment works or not, we will see.”

Earlier in the day, Grigor Dimitrov defeated Dominic Thiem 6-3, 5-7, 7-5.