“I am delighted to join the Ireland national team and am excited about the opportunity to work with such a talented group of coaches and players,” said Walters.
“The Ireland team has gone from strength to strength in recent years and it’s an exciting time to rejoin Irish rugby as the team looks to achieve more success in the years to come.
“I’ve made some great memories coaching England, and I want to thank Steve, the management team and the players for their friendship and support.”
Ireland head coach Andy Farrell was fulsome in his praise for the new recruit to his backroom team.
“He has a wealth of experience and has been a key part of many successful environments over the course of his career to date,” he said.
“I know how excited he is to return to Ireland and hit the ground running and I’m confident that he’ll play an important role in the squad as we embark on a busy international season, starting with the Autumn Nations Series this November.
“Aled replaces Jason Cowman who departed after the Guinness Six Nations success in March. Jason contributed a huge amount to Irish rugby over 15 years and we thank him for his incredible service over that time.”