Wasn't that the cux of Advent Rising?
EDIT: Also I think the weird twist at the end of the Book of Swords series by Fred Saberhagen was that it was Earth all along far in the future and that all the magic and demons came from remnants of our civilization before we nuked ourselves into oblivion.
Yeah Advent Rising is the closes thing I can think of in regards to the original post. True, humanity isn't extinct, but the plot revolves around how they use to be one of the most powerful species in the universe and they were all but wiped-out by another species.
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