Murchie, a former full-back, won three Scotland caps and made 116 appearances for Glasgow.
He was part of the Warriors’ league-winning side of 2015 and retired at the age of 31 in January 2018 on medical grounds.
The 40-year-old initially cut his coaching teeth with French side Stade Nicois as a player-coach.
He returned to take charge of Ayr, leading them to a league and cup double in 2018-19, before being named head coach of Ayrshire Bulls for the inaugural Super6 campaign.
Murchie joined Glasgow in March 2021 and became the first man to record 100 matches as a coach and player for the club.
Under Murchie, the club’s defence became one of the meanest in the United Rugby Championship (URC).
He was a key figure as Glasgow conceded the fewest tries of any team in the competition across the course of the title-winning 2023-24 season.
Murchie was also part of the Scotland A coaching side in November 2024 before leaving the Warriors to join Kobe Steelers following the end of the 2024-25 season.
WRU director of rugby and elite performance Dave Reddin said: “We’re delighted to add Pete to the full-time Wales coaching team alongside Steve, Matt and Danny.
“As someone who knows and understands Steve’s defensive philosophy, I know he will quickly add value as we build towards Rugby World Cup 2027.”
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