Allegri won five straight Serie A titles with Juventus, including four league and cup doubles, and also reached two Champions League finals. He was fired by the club two years ago.
Juventus did not say in Friday's statement whose decision it was to go, but reports in Italy say the 42-year-old Pirlo was fired.
Juventus remained third, 10 points behind Serie A leader Inter Milan, which had its match against Sassuolo postponed because of coronavirus cases in the Nerazzurri camp.
Andrea Pirlo was named the manager of Juventus after Maurizio Sarri was sacked in August.
Pirlo wants his players to have the same spirit and desire as the Juventus team he played in under Antonio Conte.
Maurizio Sarri was fired after his first season in charge ended with the team’s Champions League exit.
The Old Lady expressed their welcome to Pirlo, claiming it was a decision that made fans happy.
Pirlo played his final match on Sunday when New York City FC lost in the Major League Soccer playoffs.
World Cup winner Andrea Pirlo is all set to call it quits after his contract ends with New York City FC in the MLS this season.
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