Ives was a race engineer for Jimmie Johnson during the team's run of five consecutive championships.
"Greg was our No. 1 choice," Hendrick Motorsports owner Rick Hendrick said in a press release. "This is a talented guy who already has a terrific rapport with Dale Jr. and is a fit with the organization."
Ives has led Elliott to three wins this season at JR Motorsports, the NASCAR Nationwide Series team owned by Earnhardt Jr. He will replace Steve Letarte.
The Nascar Sprint Cup Champion For 2014 Is...