The moves on coach Gary Patterson's staff Wednesday came after it was revealed earlier this month that defensive coordinator Dick Bumpas is retiring.
Dan Sharp, who directed special teams last season, takes over as defensive line coach. The 65-year-old Bumpas, who was at TCU for 11 seasons, also coached defensive linemen.
Paul Gonzalez is the new cornerbacks coach after three seasons as a graduate assistant with the defense. He replaces Kenny Perry, who left to become co-defensive coordinator and cornerbacks coach at Kansas.
Glasgow has been at TCU since 2001, with the exception of the 2011 season when he was Texas Tech's defensive coordinator. Cross arrived two years ago from Kansas.