The Serie A champions sacked Maurizio Sarri on Saturday morning following their Champions League last-16 defeat to Lyon.
Now Pirlo, who became manager of the Juventus Under-23s just last week, is set for a quick promotion.
A statement from the Old Lady read: "Andrea Pirlo is the new Juventus coach.
"41-years-old and born in Flero in the province of Brescia, Pirlo has had a legendary career as a player that has led him to win everything, from the Champions League to the World Cup in 2006.
"In his four years at the centre of the Juventus midfield, Pirlo won as many league titles, a Coppa Italia and two Italian Super Cups.
"Today, begins a new chapter of his career in the world of football, as it was said almost a week ago: from Maestro to Mister.
"From today he will be THE coach for people of Juventus, as the club has decided to entrust him with the technical leadership of the First Team, after having already selected him for Juventus Under-23.
"Today's choice is based on the belief that Pirlo has what it takes to lead from his debut on the bench, an expert and talented squad to pursue new successes.
"Andrea Pirlo today signed a two-year contract until 30 June 2022."
OFFICIAL ✍️ | Andrea Pirlo is the new coach of the First Team. https://t.co/riVxl1enbJ #CoachPirlo pic.twitter.com/pf9QRbJ6Ll
— JuventusFC (#Stron9er