Not in a way where the band's up there in age and already is well-established like Joe Satriani joining Deep Purple after Ritchie Blackmore left.
I'm talking about bands relatively early in their careers where one legend leaves the band, and the band turns around and hires another bona-fide player. I understand that "legendary" can be somewhat subjective so I'll let you be the judge, but they should be well-known and accomplished all across the board.
One that always came to mind was Scorpions. First album (and later Lovedrive) had Michael Schenker on lead, and after he left, they got another by the name of Uli Jon Roth.
Alcatrazz first had Yngwie Malmsteen, and after he left for a highly successful solo career they hired Steve Vai.
And of course there was the Yardbirds who had several legends like Jimmy Page, Jeff Beck and Eric Clapton.