Larder is best known for being part of Sir Clive Woodward's coaching panel when England secured World Cup glory in Australia in 2003, and he worked with the Warriors as their defence coach with great effect during the 2006/07 season.
Larder's decorated coaching career also includes taking charge of the England rugby league side for the 1995 World Cup and Great Britain's tour of New Zealand a year later.
The former Sale centre was part of the back-room team for the British and Irish Lions tours of 2001 and 2005 and helped Leicester to secure four-straight Premiership titles and back-to-back Heineken Cup victories in 2001 and 2002.
He takes up the role of defence coach and will link up with Worcester head coach Richard Hill and forwards coach Phil Davies ahead of pre-season preparations at Sixways.
"I am delighted to join Worcester Warriors coaching staff," he said.
"They are an exciting club with tremendous modern facilities and excellent potential. Last year under the guidance of head coach Richard Hill they developed a winning habit and secured promotion."
"My job is not only to help the Warriors cement a place in the Premiership but help to inspire them to become one of the leading rugby clubs in England."
Hill added: "Defence is very important; we perhaps didn't put too much emphasis on it last year and it was more about the attack.
"As the importance grows during the Premiership, getting a specialist into the team like Phil gives the players so much confidence. Phil is one of the best in his field and comes with a very good reputation."
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