On Friday afternoon, Chiefs confirmed the departures of head coach Giovanni Solinas and his assistant Patrick Mabedi.
The club have now confirmed the appointment of Middendorp, who returns for his second spell with the Soweto giants.
“We were looking for a coach who is experienced and who has an understanding of the club’s footballing culture,” Chairman Kaizer Motaung told the Chiefs website.
“That’s certainly the case with Middendorp, who won trophies during his previous stint in charge of Kaizer Chiefs.
“Middendorp also understands South African football well, having a vast knowledge and experience of our local football. We are looking forward to working together.
“We need stability and the coach will start working with the team on Saturday.”