Connor had been a leading candidate to assume the role, having previously served as manager Buck Showalter's pitching coach with the Yankees, D-backs and Rangers.
Connor, a baseball veteran, most recently served as a special assistant in the Rangers' player development department. He also served as the club's Major League pitching coach from 2006-08.
The 61-year-old will take the position vacated by Rick Krantz, who worked as the Orioles' pitching coach for three seasons. Connor will join hitting coach Jim Presley, first-base coach Wayne Kirby and bullpen coach Rick Adair on Showalter's staff.
Bailey Stephens is a reporter for MLB.com. This story was not subject to the approval of Major League Baseball or its clubs.