Henry, who won the 1998 World Cup with France, was earlier linked with similar roles at Sky and ITV, but says that he is "delighted" to be joining the BBC.
"I am delighted to be joining Gary Lineker and the rest of the BBC team for the tournament in Brazil. I've enjoyed playing in World Cups, but to experience it as a fan and studio analyst will be a new, exciting challenge," Henry said in a statement.
"I've been fortunate enough to play with and against many of the players taking part, so will look forward to watching their performances this summer."
Presenter Gary Lineker added that Henry would bring 'charisma and insight' to the sofa.
"Thierry is one of the best strikers to have graced the game and really resonates with the British audience after such a successful time at Arsenal," said Linekar.
"He is full of charisma and brings with him tremendous insight from his career in France, Italy, Spain, England and the USA."
Henry will appear on Match of the Day on Saturday night.