The 43-year-old moves to the Scotstoun club from his role with the Scotland national team, following confirmation of Dave Rennie's appointment as the new Australia Head Coach, at the end of the current season.
Wilson joined the Scotland coaching group, led by Gregor Townsend, in August 2018 after a successful three-year spell as Head Coach at Cardiff Blues, (2015-2018), steering the club to European Challenge Cup glory in Bilbao and securing a return to the Heineken Champions Cup.
He combined this with two years as Wales U20 Head Coach, when his side became the first to beat the All Blacks at the age grade in 2012 in South Africa and were the first Wales U20 side to reach a Junior World Cup final in France in 2013.
He also had a season with Bristol under former Scotland Head Coach Andy Robinson.
Scottish Rugby Chief Executive, Mark Dodson, said: "We are very pleased Danny has accepted this important role at Glasgow Warriors as it retains an excellent coach within the Scottish professional game.
"Danny has worked hard to develop Scotland's set-piece into a real area of strength and his technical expertise, aligned with his working knowledge of many of the Warriors' players, will be key to maintain the club's progression in the coming years.
"He has a depth of experience from previous roles with PRO14 teams and we feel this, alongside his recent international coaching, makes him the right person for the club at this time.
"I'd like to thank Danny for his contribution to the Scotland team and wish him well as we continue our ambitious plans to make both Glasgow Warriors and Edinburgh as competitive and successful as possible in their respective competitions."
Danny Wilson said: "The opportunity to coach such an attractive club as Glasgow Warriors was too good to miss.
"I've been extremely impressed with Scottish system in recent years and I'm looking forward to working with an exciting and talented squad of players at Warriors.
"I want to build on the high-tempo style of play that I know the fans love and pay to see week in, week out.
"The club has been challenging at the top end of the Guinness PRO14 on a regular basis and as a coach it is that type of environment and culture you want to be involved in.
"I took a huge amount of learnings from the time I have spent with Scotland through the Guinness Six Nations and Rugby World Cup and I'm thankful for that experience, which can only add to how I take on a new Head Coach role with Glasgow."
Glasgow Warriors Managing Director, Nathan Bombrys, said: "We are pleased that Danny has agreed to join us next season.
"Danny brings significant Guinness PRO14 experience, has a European trophy to his credit, and international experience with Scotland.
"His background as a forwards coach will bring a different perspective to our head coaching position.
"Danny will be involved in the recruitment and planning process moving forward, and I'm really looking forward to working closely with him in preparation for next season.
"But for now, our focus remains on the current campaign and our efforts to get back into the Guinness PRO14 Final Series and knock-out stages of the Heineken Champions Cup."
Wilson will continue to work with Scotland until after the 2020 Guinness Six Nations.