Legacy Documentation: Version 4.6.2
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MonoBehaviour.OnTriggerExit(Collider)

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Description

OnTriggerExit is called when the Collider other has stopped touching the trigger.

This message is sent to the trigger and the collider that touches the trigger. Note that trigger events are only sent if one of the colliders also has a rigid body attached.

using UnityEngine;
using System.Collections;

public class ExampleClass : MonoBehaviour {
    void OnTriggerExit(Collider other) {
        Destroy(other.gameObject);
    }
}

OnTriggerExit can be a co-routine, simply use the yield statement in the function.