The 32-year-old has been on loan this season with French Top 14 club Agen from Championship title favourites Newcastle.
He will move to Sixways next month, joining his third Premiership club after stints with Northampton and Newcastle, who were relegated from the top flight last season.
Glasgow-born Murray has won 47 caps and toured South Africa with the 2009 British and Irish Lions, although his trip was ended early by injury.
"I am really excited about getting involved with the Warriors," he said.
"I have done a fair bit of research and I realise that the club is definitely going in the right direction.
"It is an impressive team sheet, so I am looking forward to starting at Sixways."
Murray has been a key member of Scotland's pack since he made his Test debut against Romania in 2005.
He was part of the 2007 and 2011 World Cup campaigns, and he will join a Worcester squad who are coached, among others, by Murray's former Lions colleague Phil Vickery.
Worcester won their first game of the Premiership season last Friday, claiming a bonus point victory over London Irish, while they drew with Gloucester and also ran Northampton, Leicester and Bath close in defeat.
Gilbert has released a new line of rugby cleats. The Gilbert Virtuo 8S is part of the exciting new product. Check it out.
The entire All Blacks apparel line has been updated for 2013/14. Check out the New Zealand All Blacks polo.
The Nike Tiempo is a solid rugby cleat and one of few styles still made from full-grain natural leather.
The Gilbert Blitz 8S rugby cleat is a great cleat at a great price of $69.99. Get a new pair of cleats today.
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Wear the crest of the British and Irish Lions on your t-shirt. A great look for the summer.
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The All Blacks Performance t-shirt is black with hints of blue from the training jersey. Very Cool.
The New Zealand All Blacks training jersey for 2013/14. Get in the Gear!
The USA Rugby Pro Alternate rugby jersey is perfect for any fan of the Eagles. Get yours to wear during the summer Test matches.
The NEW All Blacks 2013/14 jersey has arrived at World Rugby Shop. Dare to wear the colors of the All Blacks.
