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Kidd left the Nets for the [[Milwaukee Bucks]] in 2014 and Prunty joined the staff there. On December 23, 2015, Prunty was named the interim head coach for 17 games as Kidd underwent hip surgery.<ref>{{cite web |url=http://www.nba.com/2015/news/12/20/kidd-hip-surgery.ap/index.html|title=Bucks' kidd taking leave of absence to rehab back|work=NBA.com |publisher=Turner Sports Interactive, Inc |date=December 20, 2015 |access-date=November 23, 2015}}</ref> The team went 8–9 during that time,<ref>{{cite web|title=Coach Jason Kidd returns to Bucks sideline|url=http://www.nba.com/2016/news/01/26/jason-kidd-returns.ap/|website=NBA.com|access-date=September 13, 2017}}</ref> a significant improvement after beginning the season 10–18. With Prunty at the helm, the team played at a faster pace with a greater emphasis on offensive rebounds, which resulted in a much improved [[offensive rating]].<ref>{{cite web|last1=Treske|first1=Jordan|title=Milwaukee Bucks: Examining The Progress Under Joe Prunty|url=https://behindthebuckpass.com/2016/01/18/milwaukee-bucks-examining-progress-joe-prunty/|website=Behind the Buck Pass|access-date=September 13, 2017|ref=14|date=January 18, 2016}}</ref> The Bucks reached the playoffs during the [[2016–17 NBA season|2016–17 season]], losing to the [[Toronto Raptors]] in six games. After beginning the [[2017–18 NBA season|2017–18 season]] with a disappointing 23–22 record and falling to the eighth seed in the Eastern Conference, head coach Kidd was fired,<ref>{{cite web |date=January 22, 2018 |title=Bucks Relieve Jason Kidd Of Head Coaching Duties |url=http://www.nba.com/bucks/news/bucks-relieve-jason-kidd-head-coaching-duties |access-date=January 22, 2018 |website=NBA.com}}</ref> and Prunty was named interim head coach on January 22, 2018, before they began their game against the [[Phoenix Suns]].<ref>{{cite web|last1=Armas|first1=Genaro C.|title=Milwaukee Bucks fire coach Jason Kidd|url=http://www.nba.com/article/2018/01/22/milwaukee-bucks-coach-jason-kidd-fired-report|website=NBA.com|access-date=January 23, 2018|date=January 22, 2018}}</ref> After winning that game, for the rest of the season onward, the Bucks would improve just enough to gain the 7th seed of the Eastern Conference in the [[2018 NBA Playoffs]], facing against the [[Boston Celtics]] in the first round. While Milwaukee would be competitive throughout the series, they would ultimately lose the first round 4–3. Prunty would remain with the Bucks until May 17, when [[Mike Budenholzer]] would be named his replacement. On June 27, 2018, Prunty was hired by the [[Phoenix Suns]] as an assistant coach.<ref>{{cite web |date=June 27, 2018 |title=Phoenix Suns Announce Coaching Staff |url=https://www.nba.com/suns/press-release/phoenix-suns-announce-coaching-staff |access-date=June 27, 2018 |website=NBA.com}}</ref> He along with other Suns assistants were relieved of their duties in April 2019, following the firing of head coach [[Igor Kokoškov]].<ref>{{cite web |title=Phoenix Suns fire assistants after dismissing Igor Kokoskov |url=https://arizonasports.com/story/1920351/phoenix-suns-have-fired-assistants-after-dismissing-igor-kokoskov/ |website=Arizona Sports 98.7 FM |access-date=24 April 2019|date=April 23, 2019}}</ref> He did not coach in the NBA for the next two seasons, but served as the head coach for the [[United States men's national basketball team]] during the third window of qualification for the [[2022 FIBA AmeriCup]] in February 2021.<ref>{{cite web|title=Joe Prunty|url=https://www.usab.com/basketball/staff/p/prunty-joe.aspx|archive-url=https://web.archive.org/web/20210129163554/https://www.usab.com/basketball/staff/p/prunty-joe.aspx|url-status=dead|archive-date=January 29, 2021|website=usab.com|date=January 9, 2022}}</ref> On June 23, 2021, Suns coach [[Monty Williams]] credited Prunty as being a partial inspiration for a Western Conference Finals game-winning inbounds alley-oop play set up between [[Jae Crowder]] and [[Deandre Ayton]].<ref>{{cite web |title=Suns coach Monty Williams credits Brett Brown, Joe Prunty for game-winning inbounds play |url=https://www.yardbarker.com/nba/articles/suns_coach_monty_williams_credits_brett_brown_joe_prunty_for_game_winning_inbounds_play/s1_127_35225981 |website=Yardbarker |access-date=September 13, 2021 |date=June 23, 2021}}</ref>
On July 23, 2021, the [[Atlanta Hawks]] announced that Prunty would be joining [[Nate McMillan]]'s staff as an assistant coach.<ref>{{cite web |title=Hawks Finalize Coaching Staff And Announce New Hires And Promotions Within Basketball Operations |url=https://www.nba.com/hawks/news/hawks-finalize-coaching-staff-and-announce-new-hires-and-promotions-within-basketball |website=NBA.com |access-date=July 23, 2021 |date=July 23, 2021}}</ref> With McMillan and lead assistant [[Chris Jent]] entering health and safety protocols, Prunty served as acting head coach<ref>{{cite tweet |user=wojespn |number=1477394224232517636 |date=January 1, 2022 |title=With Nate McMillan and top assistant Chris Jent in Covid protocols, assistant Joe Prunty is next up to become the acting head coach, sources tell ESPN. Hawks play Portland on Tuesday.}}</ref> for three games of a west coast road trip in January 2022. The team went
On June 28, 2023, it was revealed that Prunty would rejoin the [[Milwaukee Bucks]] as an assistant coach, joining [[Adrian Griffin]]'s staff.<ref>{{cite web |date=June 28, 2023 |title=Milwaukee Bucks Announce Assistant Coaching Staff |url=https://www.nba.com/bucks/news/milwaukee-bucks-announce-assistant-coaching-staff |access-date=June 28, 2023 |website=NBA.com}}</ref> On January 23, 2024, Prunty was named the interim head coach of the Milwaukee Bucks, following the firing of Griffin.<ref>{{cite news|title=Milwaukee Bucks Dismiss Head Coach Adrian Griffin|url=https://www.nba.com/bucks/news/milwaukee-bucks-dismiss-head-coach-adrian-griffin|website=NBA.com|date=January 23, 2024|access-date=January 23, 2024}}</ref> Prunty served as interim coach for three games, until the Bucks hired [[Doc Rivers]] as head coach.<ref>{{cite news|title=Milwaukee Bucks Hire Doc Rivers as Head Coach|url=https://www.nba.com/bucks/news/milwaukee-bucks-hire-doc-rivers-as-head-coach|website=NBA.com|date=January 26, 2024|access-date=January 28, 2024}}</ref>
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