Murray made the announcement Sunday, saying Mauresmo would be his coach beginning this week.
"Amélie is someone I have always looked up to and admired," he said in a statement. "She's faced adversity plenty of times in her career, but was an amazing player."
"I'm convinced that her joining the team will help us push on," Murray said. "I want to win more Grand Slams."
Mauresmo formerly was a No. 1 player and won two Grand Slam singles titles.
Murray parted ways with his former coach, Ivan Lendl, in March because he was unwilling to commit to as many weeks on the road as Murray wanted.