The 52-year-old Kubiak replaces Jim Caldwell, who left to become coach of the Detroit Lions. The Ravens also announced they have hired Rick Dennison, the Texans former offensive coordinator, as their quarterbacks coach.
"Gary Kubiak was on the list from the beginning," Baltimore coach John Harbaugh said Monday during the introduction of his two new assistants. "It became apparent this had a chance to be a fit for both coaches and the Ravens."
Kubiak was offensive coordinator of the Denver Broncos for three years before being named Houston's head coach in 2006. He was fired on Dec. 6 of this season after the Texans started 2-11.
"I have great respect for this organization," Kubiak said, "but it comes down to John."
The Former Texas coach had a 61-64 regular season record and went 2-2 in the postseason with Houston.
Kubiak takes over an offense that was ranked 29th in the NFL. Baltimore went 8-8 after winning the Super Bowl last year.
Former Redskins offensive coordinator Kyle Shanahan and Ravens receivers coach Jim Hostler were interviewed twice for the job, along with Pittsburgh Steelers running backs coach Kirby Wilson.
Wilson was eliminated from contention on Saturday.
Kubiak, a late candidate for the post, and will be asked to improve a running attack that produced only seven touchdowns and averaged a franchise-worst 3.1 yards per carry. In addition, Super Bowl MVP Joe Flacco threw a career-high 22 interceptions.