"With as much experience as he has evaluating players, Gary's going to be a tremendous resource for our personnel department," Broncos general manager John Elway said in a statement. "He'll primarily help on the college side and assist us in free agency as well.
"Gary will be based out of his home in Texas while also making visits here throughout the year to participate in various personnel meetings."
Kubiak, who resigned as the Broncos head coach on Jan. 2, led the team to a 24-11 record in his two seasons. Denver won the Super Bowl under his direction in the 2015 season.
Kubiak had health problems while coaching the Broncos in 2016 and was taken to the hospital for a complex migraine. He suffered a mini-stroke in 2013 when he was the Houston Texans head coach.
For his new job, Kubiak will be based in Houston and will evaluate college players in advance of the NFL Draft.
"It's an honor for me to continue to be part of this great organization," Kubiak said in a statement. "John and I talked long ago about any opportunity like this, and I'm very happy to be able to contribute on the personnel side.
"I said when I left that I still wanted to be involved in football. This gives me an opportunity to be involved with the game, and I'm excited to get to work."