"I am really excited to have the opportunity to work with Boris," the 26-year-old Djokovic said in a statement on his website (www.novakdjokovic.com).
"He is a true legend, someone who has great tennis knowledge and his experience will help me win new trophies from the grand slams and other tournaments. Becker is a great person, too, and I am sure he will fit in our team in the best possible way."
Becker, 46, will replace Djokovic's long-time coach Marian Vajda although the Slovakian will remain part of the team. He will travel with Djokovic to all four grand slam tournaments, starting with the forthcoming Australian Open, as well as a number of other major events.
German Becker was the youngest winner of Wimbledon at 17 and won 64 ATP titles in total. Djokovic lost the number one ranking to Spain's Rafa Nadal in October despite having another strong year.
He finished the season by winning the ATP World Tour Finals in London and has targetted adding to his six grand slam titles next season.
"My goal for 2014 is to play my best tennis and to get in shape for the Grand Slams and Masters 1000," Djokovic said.
"These tournaments have the most weight in our sport, and I want to prove my worth at them. The team is now strengthened and we hope for maximum results."
Djokovic's announcement means Becker and former world No.1 Ivan Lendl, coach to Wimbledon champion Andy Murray, will be back in competition, albeit in the safety of the players' boxes.