Haley was fired by the Chiefs on December 12 after a 5-8 start to his third season at the helm. The Chiefs were 19-26 in Haley's brief tenure, including 10-6 with an AFC West title in 2010. He guided the 2010 team to the greatest single-season turnaround in club history, as the Chiefs were just 4-12 the previous year.
Joining the Steelers is a sort of homecoming for Haley, whose father, Dick, served as Pittsburgh's director of player personnel from 1971-90.
"I am excited about the opportunity to come back home and work for a tremendous organization," Haley said Tuesday in a statement. "It is an honor to work with the Rooney family and Coach Tomlin and continue the success that has become synonymous with the Steelers. My father has so many fond memories both from his playing days and his time in the personnel department with the team, and I look forward to helping bring more championships to Pittsburgh and to being a part of one of the storied franchises in the NFL."
The Steelers won four Super Bowl titles in the 1970s with Dick Haley running the personnel department.
Prior to taking over the Chiefs, Todd Haley was the offensive coordinator for the Arizona Cardinals from 2007-08 under Ken Whisenhunt, who had been the Steelers' offensive coordinator before taking the Arizona head coaching job. The Cardinals scored a franchise-record 427 points in 2008 and reached the Super Bowl for the first time, losing to Pittsburgh.
Haley also served as an assistant for the Cowboys from 2004-06, the Bears from 2001-03 and the Jets from 1997-2000.