Andy Murray has been forced to announce his intention to retire after failing to overcome a hip problem.

The 31-year-old can look back on a career full of highlights, including three grand slam titles and two Olympic gold medals.

Here, Press Association Sport picks out 10 of Murray's best matches.

2008, Wimbledon, fourth round – beat Richard Gasquet 5-7 3-6 7-6 (7-3) 6-2 6-4

The match that established Murray's reputation for never giving up. The 21-year-old was two sets and a break down before recovering to reach the quarter-finals of a grand slam for the first time. The backhand down the line during the third-set tie-break that left him almost in the crowd is arguably his most memorable shot.

2011, Japan Open, final – beat Rafael Nadal 3-6 6-2 6-0

Having lost to Nadal in three successive grand slam semi-finals, Murray produced one of his best ATP Tour performances, coming from a set down to defeat the great Spaniard with a fine display of attacking tennis.

2012, Olympic Games, gold medal match – beat Roger Federer 6-2 6-1 6-4

Four weeks after his heartbreaking Wimbledon final loss to Federer, Murray played arguably the greatest match of his career to claim his first global title. Admittedly he was facing a tired Federer but this was complete domination in front of a raucous and disbelieving Centre Court crowd.

2012, US Open, final – beat Novak Djokovic 7-6 (12-10) 7-5 2-6 3-6 6-2

In his fifth final, Murray finally won a grand slam title in fittingly dramatic fashion. It looked like he might have blown his chance when Djokovic fought back from two sets down to level but the Scot was not to be denied.

2013, Australian Open, semi-final – beat Federer 6-4 6-7 (5/7) 6-3 6-7 (2/7) 6-2

Going for a second successive slam title, Murray secured his only slam victory over Federer. Although it took five sets, the Swiss was hanging on to Murray with his fingernails for most of the match and was helpless in the fifth set.

2013, Wimbledon, final – beat Djokovic 6-4 7-5 6-4

https://www.youtube.com/watch?v=Lww-hJ4LdTo

The most important match of Murray's career was a fitting way for the Scot to end Fred Perry's 77-year reign as the last home men's singles winner. Superb throughout, the final game was a match in itself before Murray at last got his hands on the golden trophy.

2015, Davis Cup, final – beat David Goffin 6-3 7-5 6-3

Of all Murray's many wonderful achievements, winning the Davis Cup for Great Britain virtually single-handed in 2015 might well be the best of them. It was fitting he should win the final point against Belgium in Ghent, sealed with a stunning lob.

2016, French Open, semi-final – beat Stan Wawrinka 6-4 6-2 4-6 6-2

https://www.youtube.com/watch?v=O3Vdoax_TWA

The match that showed Murray had conquered clay as he knocked out the defending champion to reach his only final at Roland Garros.

2016, Wimbledon, final – beat Milos Raonic 6-4 7-6 (7-3) 7-6 (7-2)

For the first time in his 11 slam finals, Murray found someone other than Federer or Djokovic on the other side of the net. From the start, he stamped his authority on first-time finalist Raonic and did not let up.

2016, Olympic Games, gold medal match – beat Juan Martin del Potro 7-5 4-6 6-2 7-5

This gruelling, emotional victory in Rio gave Murray something none of his illustrious rivals have managed as he became the first tennis player to successfully defend an Olympic singles title.