Redman, 47, will return to Sixways, where he was previously Worcester's academy manager, after working with the England Under-20s at next month's Junior World Championships.
"It was a tough decision to make but I'm passionate about coaching people and I'm excited about what is happening at Worcester and want to be part of that process," Redman said.
"It's a brilliant move for me and I'm looking forward to it.
"I have enjoyed my time at the RFU fully, but I have always had a soft spot for Worcester and I'm really looking forward to coming back and working with the team at Sixways."
It is understood Wasps' forwards coach Trevor Woodman was among those considered for the position, which was left vacant when Phil Davies left to become director of rugby at Cardiff Blues.
But Worcester's director of rugby Richard Hill believes Redman, his former Bath and England team-mate, is the perfect man to implement his vision for the Warriors.
"Nigel is one of the leading coaches in the English game and so we know he will be a success in this crucial role with the Warriors," Hill said.
"He knows the very latest modern training techniques and developments in the international arena. He is bang up to date with the way forward and knowledge.
"Nigel is the sort of coach who is technically exceptional and he has a lot of time for individual work with players. I like coaches like that and he will really challenge all the players here and ask questions of them.
"His work ethic as a player was tireless and he is the same as a coach, he will put the work in and he demands that off the players.
"I want a huge work ethic next season and the players I have recruited have that and Nigel coming in will reinforce that.
"We will make sure that this team works harder than any other with real attention to detail.
"He feels he has unfinished business here and by coming back he can achieve those ambitions."
Redman initially joined the RFU from Worcester in 2004 as an academy coach before leading the Under 20s to a Six Nations Grand Slam and the 2008 Junior World Championship final.
The former Bath and England lock is an RFU level five qualified coach - the same as Stuart Lancaster - and a graduate of the UK Sport elite coach programme.
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