Vogts will help develop training plans and scouting reports, and will observe U.S. opponents ahead of the World Cup, the U.S. Soccer Federation said Sunday.
"He brings a wealth of knowledge and experience, both as a player and a coach, and he knows what it takes to succeed at the highest level," Klinsmann said in a statement. "He is obviously very familiar with our opponents in the group stage of the World Cup, and for us this is a huge bonus."
In addition, U.S. under-20 coach Tab Ramos has been added to the national team coaching staff, and former Chivas USA coach Martin Vazquez will leave the staff for other USSF duties.
The 67-year-old Vogts was a defender on West Germany's championship team at the 1974 World Cup and made 96 international appearances in all. He coached his national team from 1990-98, winning the 1996 European Championship with Klinsmann as one of his year players.
Vogts went on to coach Bayer Leverkusen in the Bundesliga and the national teams of Kuwait (2001-02), Scotland (2002-04), Nigeria (2007-08 and Azerbaijan (2008-present). He will continue his job with Azerbaijan.