TrueCar Inc. founder and chief executive Scott Painter will step down at the end of the year, the company said Thursday, in a move that comes as the online car-buying firm faces a wave of new legal and financial troubles.

Mr. Painter, who established the company in 2005 and took it public last year, has been a vocal critic of the way traditional auto retailers sell cars, marketing TrueCar as a more transparent and hassle-free way to shop for vehicles over the Internet. He has repeatedly clashed with dealers over the years as TrueCar has nudged its way into the auto-retailing space with the growth in online shopping.

His departure was announced as the company reported second-quarter earnings Thursday. Speaking to analysts, Mr. Painter cited his "strained" relationship with dealers and the firm's weak quarterly earnings as reasons for stepping down.

"I've come to a conclusion reached by many founders and entrepreneurs in my position: it's time for a change," Mr. Painter said.

Through its website, TrueCar offers car buyers the ability to shop prices based on what others have paid for similar models and against invoice prices. The Santa Monica, Calif.-based company reported a $14.7 million loss in the second quarter, or 18 cents a share, compared with a $15 million loss, or 22 cents a share, a year earlier.

TrueCar, which has a market value of about $500 million, earns the bulk of its revenue by charging dealers for customer referrals.

Revenue grew 29%, to $65.3 million, in the second quarter. The number of dealers using TrueCar rose 21% to a record 9,300, the company said.

The results were better than the warning the company issued last month, forecasting quarterly losses could widen to as much as $15.5 million. Still, TrueCar expects full-year adjusted earnings of about $5 million off revenues between $252 million to $258 million.

"It was a tough quarter in relation to our initial guidance," said Mike Guthrie, TrueCar's Chief Financial Officer. "Notwithstanding that, we achieved notable success."

TrueCar has had a bumpy ride this year. Last month, the company lost one of its biggest clients, AutoNation, Inc., after the two clashed over sharing consumer data. The No. 1 U.S. auto retailer by sales, AutoNation accounted for about 3% of TrueCar's revenue.

The online firm is also facing multiple lawsuits brought by dealer groups, claiming its business practices are deceitful and violate state consumer protection laws.

TrueCar has said the claims are baseless and will fight them in court. But the legal challenges have only flair long-simmering tensions between the company and its dealer clients.

The company's stock tumbled in July after it announced that it was reducing its full-year forecast as fewer customers used the site to make purchase. Thursday the stock closed down 6%, at $5.54.

Write to Christina Rogers at christina.rogers@wsj.com

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