"I had two very successful years working with Ivan, he's single-minded and knows what it takes to win the big events," Murray said in a statement Sunday. "I'm looking forward to Ivan joining the team again and helping me try and reach my goals."
Under Lendl for two years, the British player won the U.S. Open in 2012 and Wimbledon in 2013 along with a gold medal at the 2012 Olympic Games in London.
The 29-year-old Murray has defeated Djokovic in his two Grand Slam successes. Murray has lost eight of his 10 Grand Slam final appearances.
Lendl, an eight-time Grand Slam champion, was replaced by Amelie Mauresmo in the summer of 2014 until the partnership ended in April.
Lendl will be with Murray at the Aegon Championships at Queen's Club in London starting Monday in preparation for Wimbledon, which begins June 27.
"I enjoyed working with Andy in the past," Lendl said. "Andy and I have always stayed in contact so it should be fun to be part of his team again."
At Queen's on Sunday, Murray is preparing to defend the title he has won four times.
"Hopefully it will be for a long time, from my side," Murray said of Lendl. "He's coming over, he'll be here for the tournament and it's good for him to spend a bit of time with the rest of the team as well to see how things work out. But, provided everything's good, it will hopefully go on for a long time.
"The most successful period of my career was while I was working with Ivan. He's single-minded and knows what it takes to win the big events. I know what he can offer. The experiences he had psychologically helped me in the major competitions and they're obviously the events I'm trying to win and am competing for. I hope he can bring that same experience and those same benefits that he did last time."