Coach Chris Ash announcing the hiring Thursday.
Burnham spent the last seven seasons at Iowa State, including working with Ash in 2009. He also overlapped with Rutgers offensive coordinator Drew Mehringer on the Cyclones staff from 2010-11.
Burnham worked in 2015 with the Cyclones' inside linebackers after spending the previous six years focusing on defensive tackles. He added oversight of special teams in 2012.
Switching to a 3-4 scheme this past season, Iowa State posted 30 sacks with 74 tackles for loss. On special teams, the Cyclones rank third in the nation on punt returns.