Kenny, who joined the Glasgow coaching staff in 2013, will join up with Jason O'Halloran and Jonathan Humphreys to take pre-season training this summer.
Kenny made his name in the BT Premiership, coaching Ayr to the first league win in the club's history in 2009 before going on to win the league and cup double in 2013.
Under his leadership Ayr also reached the British and Irish Cup Quarter Finals and they remain the only Scottish club to progress to that stage of the competition to date.
Current Lead Strength and Conditioning Coach Stuart Yule and Lead Performance Analyst Gavin Vaughan will leave the Warriors at the end of the season, joining Gregor Townsend's backroom staff with the national side.
Stuart has been at Glasgow since 2009, while Gavin joined the club in 2012.