The deal had long been in the works but the 65-year-old former Pescara boss - famous in Italy for his often controversial musings on the game - has finally put pen to paper on a two-year deal, the club said in a short statement.
He replaces Spaniard Luis Enrique, who quit last month at the end of the season after American-owned Roma lost 14 league matches and failed to qualify for European competition.
Zeman, who was born in Prague but is a naturalised Italian, managed Roma between 1997 and 1999 and the exciting style of football his side played left a deep impression on their supporters and enamoured club captain Francesco Totti.
Zeman's Pescara were promoted to Serie A last season with a team that drew plaudits for their attacking prowess.
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