Counsell wrapped up a 16-year big league career in 2011 with the Brewers, for whom he played his final five seasons. He batted .178 in 107 games last year.
"I am excited to begin a new challenge in baseball," said Counsell in a statement. "I look forward to contributing in any way I can to the success of an organization that has been a special part my life for many years."
Counsell was a .255 career hitter in 1,624 games for the Brewers, Diamondbacks, Dodgers, Marlins and Rockies. He won a World Series in 1997 with Florida, scoring the winning run in Game 7 against Cleveland, and was also a key member of Arizona's 2001 World Series title team, earning NLCS MVP honors that postseason.
"We are pleased to have Craig join our organization in a very significant role," said Brewers general manager Doug Melvin. "His knowledge of how to play the game, along with his work ethic and passion to see the Brewers succeed, will now be utilized and welcomed by our front office."
Counsell grew up in a Milwaukee suburb while his father worked in the Brewers front office from 1979-87.