Glasgow-born Murray, who led Premiership side Ayr to a league and cup double last season, will join the Scotstoun outfit next month.
In the new full-time role, he will work alongside existing coaches Shade Munro and Matt Taylor and support head coach Gregor Townsend.
Murray said: "I am absolutely delighted to be appointed as a new assistant coach of Glasgow Warriors.
"This is a fantastic opportunity for me to develop my career and work alongside some very good coaches, who are already at the club.
"I have mixed emotions as I've thoroughly enjoyed my time at Ayr. Although I'm sad to be leaving I know they're in good hands.
"It's an exciting time to be joining the Warriors and I can't wait to be involved in professional rugby and to start working with everyone at the club."
Townsend added: "We're delighted to bring Kenny on board.
"He is a hard-working individual who has brought success to Ayr over the last five years, and we will now benefit from having him at Glasgow Warriors.
"Kenny was the ideal candidate for the role, which will provide us with valuable coaching support. He will help us build on what we achieved last season."
Murray has now been replaced as Ayr head coach by his former assistant Peter Laverie.
- Sports & Recreation