Financial terms and length of contract were not disclosed, but the Denver Post reported that Kubiak is signed for four years.
"While there is no question he is a Bronco, what Gary has learned from his other opportunities around the league -- especially in his eight seasons as a head coach -- will tremendously benefit our organization," Broncos executive John Elway said.
Kubiak was the Broncos backup quarterback, behind Elway, for nine seasons.
On Sunday, ESPN's Adam Schefter reported that Kubiak would take the Broncos' head coaching position if it were offered to him when the Broncos met with him Sunday in his hometown of Houston.
- Scooby Axson