The 73-year-old South Africa, Real Madrid and Portugal mentor was named as a replacement for the sacked Otto Addo.
Addo was relieved of his duties after friendly defeats to Germany and Austria with just months to go ahead of the start of the competition.
The Black Stars qualified for the finals as winners of Group I ahead of Madagascar and Mali and will face England, Croatia and Panama in Group L when the tournament kicks off in June.
Queiroz, who Portugal to the last 16 at the 2010 World Cup and was head coach of Iran at the past three editions of the tournament, was most recently in charge of Oman but stepped away from the post after they failed to qualify for the World Cup.
READ: Ghana Part Ways with Otto Addo two months before 2026 FIFA World Cup
“I accept this mission with the same passion and commitment that have guided me throughout my career,” Queiroz said.
“Ghana is a nation of talent, pride, and footballing soul. I arrive with respect for its history and belief in its future.”