Murray, 29, has been without a coach since splitting with Amelie Mauresmo shortly before the French Open last month.
The Scot won Wimbledon, the US Open and Olympic gold during two years with Lendl from 2012 to 2014.
"Ivan's single-minded and knows what it takes to win the big events," Murray said in a statement.
"I had two very successful years working with him. I'm looking forward to Ivan joining the team again and helping me try and reach my goals."
Lendl, a former world number one and eight-time Grand Slam champion, has spent the last two years working for the United States Tennis Association.
He will work alongside Jamie Delgado, the British former player who joined Murray's team earlier this year.
"I had two very successful years working with him. I'm looking forward to Ivan joining the team again and helping me try and reach my goals."
Lendl, a former world number one and eight-time Grand Slam champion, has spent the last two years working for the United States Tennis Association.
He will work alongside Jamie Delgado, the British former player who joined Murray's team earlier this year.
Lendl helped guide Murray to victory at the London 2012 Olympics before the Briton won his first Grand Slam title at the US Open later that year.
The Czech-born American then helped Murray end Britain's 77-year wait for a men's singles champion at Wimbledon in 2013.
"I enjoyed working with Andy in the past," Lendl, 56, added.
"Andy and I have always stayed in contact so it should be fun to be part of his team again."
Murray is ranked second in the world and has reached both Grand Slam finals in 2016, losing to Serbian world number one Novak Djokovic at the Australian and French Opens.
A four-time champion at Queen's Club, Murray will begin his campaign against Frenchman Nicolas Mahut in round one, with the championships starting on Monday.
The Czech-born American then helped Murray end Britain's 77-year wait for a men's singles champion at Wimbledon in 2013.
"I enjoyed working with Andy in the past," Lendl, 56, added.
"Andy and I have always stayed in contact so it should be fun to be part of his team again."
Murray is ranked second in the world and has reached both Grand Slam finals in 2016, losing to Serbian world number one Novak Djokovic at the Australian and French Opens.
A four-time champion at Queen's Club, Murray will begin his campaign against Frenchman Nicolas Mahut in round one, with the championships starting on Monday.
