Whisenhunt replaces the fired Mike Munchak, who was released after the Titans logged a disappointing 7-9 record this season and missed the playoffs.
The 51-year-old coached the Cardinals for six seasons, guiding them to a 45-51 mark from 2007-12. During that span Arizona won two NFC West titles and made an appearance in Super Bowl XLIII.
This season he served as the offensive coordinator for the San Diego Chargers.
"I have a lot of respect for Ken as a coach and as an offensive mind," Titans General Manager Ruston Webster said. "The traits that stand out to me when identifying him as our next coach -- he is intelligent, has a track record with quality offenses and head coaching success."
Whisenhunt, who played for Atlanta, Washington the New York Jets during a seven-year career, also coached with Baltimore (1997-98), Cleveland (1999), the Jets (2000) and Pittsburgh (2001-06).