The world number two enjoyed the best moments of his career under the guidance of Lendl, winning Olympic gold and the US Open in 2012 and then Wimbledon the following year.
Lendl will be with Murray for the Aegon Championships at Queen’s Club, which starts on Monday.
Murray said: “I had two very successful years working with Ivan, he’s single-minded and knows what it takes to win the big events. I’m looking forward to Ivan joining the team again and helping me try and reach my goals.”
Murray split from Lendl in March 2014 after the eight-time grand slam champion decided he no longer wanted to spend 20 plus weeks travelling.
It was a huge blow for Murray, especially given it came at an uncertain period when the Scot was still recovering from back surgery.
Murray replaced Lendl with Amelie Mauresmo in the summer of 2014 and climbed back to number two in the world.
But further grand slam titles have remained elusive and Murray’s ground-breaking partnership with Mauresmo ended last month.
The 29-year-old appeared content to work with his assistant coach Jamie Delgado, under whom he reached the French Open final last weekend, losing to Novak Djokovic.
But he had raised the prospect prior to travelling to Paris of reuniting with Lendl and it has now become a reality.
Lendl said: “I enjoyed working with Andy in the past. Andy and I have always stayed in contact so it should be fun to be part of his team again.”
Lendl helped Murray improve his game, particularly on the forehand, but crucially also gave him the belief to beat the world’s best on the biggest occasions.
He defeated Roger Federer to win Olympic gold and then saw off Djokovic in both the US Open and Wimbledon finals.
Murray’s main motivation for rehiring Lendl is surely to try to help him break the stranglehold of Djokovic, who holds all four grand slam titles after beating Murray in the finals of both the Australian and French Opens.
Since splitting from Lendl, Murray has lost all five slam meetings with Djokovic and also failed to beat his other ‘big four’ rivals Federer and Rafael Nadal over five sets.
But the 29-year-old’s form on clay, culminating in a first French Open final, shows that his game is in great shape and he will hope Lendl can give him an extra edge at Wimbledon in two weeks’ time.
Lendl is expected to spend a similar amount of time with Murray as in his first stint but will maintain his role with the United States Tennis Association’s player development programme.
The world number two has enjoyed the best moments of his career under the guidance of Lendl, winning Olympic gold and the US Open in 2012 and then Wimbledon the following year, before the pair split in March 2014.
But now they are back and will be aiming to add to a glittering set of achievements:
LONDON OLYMPICS 2012
Murray’s Olympics success on home soil was at the time the biggest win of his career.
The Centre Court London 2012 final against Roger Federer came four weeks to the day since he lost to the same opponent in the 2012 Wimbledon final.
But Murray wasn’t going to be beaten by the Swiss maestro for a second successive time on grass.
Indeed, it was a stroll in the park for the Briton who lost just seven games against the World No.1 on his way to a 6-2 6-1 6-4 victory in front of a buoyant home crowd.
It was an early indication of the mental strength Lendl had given Murray to get over the line in big matches.
US OPEN 2012
This was Murray’s breakthrough Slam victory working with Lendl and it proved he made the right decision to hire the Czech legend.
After defeats in his first four Grand Slam finals, Murray nailed Rafael Nadal in the semi-finals to set-up a final clash at Flushing Meadows with Novak Djokovic.
The Scot overcame the Serbian star in five sets, blowing a two-set lead, only to fight back and win his maiden major with a deciding set score of 6-2.
Murray became the first British winner of the men’s singles title at SW19 since Fred Perry in 1936, ending 77 years of heartache for tennis fans in the UK.
A year on from his tearful post-match interview break down after losing to Roger Federer in the 2012 final, Murray dismissed Novak Djokovic, again, in three straight sets.
This was Murray’s last slam win and of course both of these arrived under the stewardship of Lendl.
Even though Lendl is known for his fiery personality on the court, the two hit it off from from the first training session and enjoyed many funny moments together – none more so than this incident during a charity match at Queen’s Club:
Maria Sharapova has found support from sponsors after being given a two-year suspension for failing a drugs test at the Australian Open.
Sharapova though has vowed to fight the ban, announced by the International Tennis Federation on Wednesday, after she tested positive for prohibited substance meldonium.
The five-time grand slam champion will miss the Olympic Games in Rio this summer while the earliest grand slam she could next enter is the French Open in 2018, but will take her fight against the sanction to the Court of Arbitration for Sport.
And high-profile sponsors Nike and HEAD are standing by the the Russian, with Nike lifting the suspension they imposed on their contract when news of her failed drugs test emerged in March.
At the time of the failed test, the sportswear giant said it was putting its eight-year, US dollars 70million deal on hold.
What cuts against Sharapova most in the 33-page ruling, I think, is how she admits taking meldonium on morning of every match in Melbourne…— Ben Rothenberg (@BenRothenberg) June 8, 2016
…if you're taking something just on match days that's about helping performance, not heart/pre-diabetes/whatever issues initially mentioned.— Ben Rothenberg (@BenRothenberg) June 8, 2016
But in a statement on Wednesday night, it said that it had decided to continue working with Sharapova.
“The ITF Tribunal has found that Maria did not intentionally break its rules. Maria has always made her position clear, has apologised for her mistake and is now appealing the length of the ban. Based on the decision of the ITF and their factual findings, we hope to see Maria back on court and will continue to partner with her,” read the statement.
Sharapova’s racket provider HEAD never wavered in its support of her, citing her as a “role model and woman of integrity” at the time of her failed test and proceeding to extend her deal.
And in a statement widely reported on Twitter the manufacturer’s chairman Johan Eliasch said: “Based upon the evidence provided by Miss Sharapova, WADA and by Dr Don Catlin, the Chief Science Officer of the Banned Substances Control Group, it appears that the ITF have made their decision based upon a flawed process undertaken by WADA that clearly highlights how WADA have broken their own rules in determining whether or not meldonium should be banned.
“We believe, based on the facts and circumstances provided to us, that is is a flawed decision. HEAD will continue to support Miss Sharapova.”