Renshaw, who led Mark Cavendish to numerous victories during their time together at HTC-Highroad, said that he is looking forward to once again working with the 'Manx Missile'.
"After a couple of years apart, riding on the same team as my good friend Mark Cavendish again is something I am going to enjoy," Sky Sports News quotes him as saying.
"It will be great returning to lead-out duties, fighting for victories with Cav."
Quick-Step team manager Patrick Lefevere said: "Rigoberto's arrival reinforces our team as far as the major tours are concerned. Uran is a top rider and his talent on climbs goes without saying."
Uran finished second in this year's Grio d'Italia.