Craig Walker, a co-founder of Google Voice developer GrandCentral, has left the company to join Google Ventures as entrepreneur-in-residence and begin working on his next company.

The other co-founder of Google Voice, Vincent Paquet, will take the helm and lead the Google Voice project after Walker’s departure, Google Ventures partner David Krane confirmed to VentureBeat.

“We’re thrilled that Craig Walker will be (Google Venture’s) first EiR — he’s precisely the kind of passionate, talented, and proven entrepreneur that we like to be engaged with,” Krane said in an e-mail. “We believe strongly in Craig and look forward to helping him develop his next start-up idea.”

Google acquired GrandCentral in 2007, meaning Walker has been with Google for about three years now. The service officially went live in 2009 with a fair bit of praise. Walker was formerly the CEO of Dial Pad communications, which was acquired by Yahoo in 2005.